first commit

CMakeLists.txt

@@ -1,91 +1,86 @@
-cmake_minimum_required(VERSION 3.20)
-
+cmake_minimum_required(VERSION 3.10)
 project(laser_geometry)
 
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 17)
-  set(CMAKE_CXX_STANDARD_REQUIRED ON)
-endif()
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+include(CTest)
 
-find_package(ament_cmake REQUIRED)
-find_package(ament_cmake_python REQUIRED)
-
-find_package(rclcpp REQUIRED)
-find_package(sensor_msgs REQUIRED)
-find_package(tf2 REQUIRED)
-find_package(eigen3_cmake_module REQUIRED)
+# Find dependencies
 find_package(Eigen3 REQUIRED)
+find_package(GTest REQUIRED)
 
-ament_python_install_package(laser_geometry PACKAGE_DIR src/laser_geometry)
-
-add_library(laser_geometry SHARED src/laser_geometry.cpp)
-target_include_directories(laser_geometry
-  PUBLIC
-    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-    $<INSTALL_INTERFACE:include/${PROJECT_NAME}>
-)
-target_link_libraries(laser_geometry PUBLIC
-  ${sensor_msgs_TARGETS}
-  tf2::tf2
-)
-if(TARGET Eigen3::Eigen)
-  target_link_libraries(laser_geometry PUBLIC Eigen3::Eigen)
-else()
-  target_include_directories(laser_geometry PUBLIC ${Eigen3_INCLUDE_DIRS})
+# Add subdirectories for message dependencies
+if (NOT TARGET sensor_msgs)
+    add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../common_msgs/sensor_msgs ${CMAKE_BINARY_DIR}/sensor_msgs_build)
 endif()
 
-target_link_libraries(laser_geometry PRIVATE
-  rclcpp::rclcpp
+if (NOT TARGET geometry_msgs)
+    add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../common_msgs/geometry_msgs ${CMAKE_BINARY_DIR}/geometry_msgs_build)
+endif()
+
+if (NOT TARGET robot_time)
+    add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../robot_time ${CMAKE_BINARY_DIR}/robot_time_build)
+endif()
+
+# Include directories
+include_directories(
+    include
+    ${EIGEN3_INCLUDE_DIRS}
+    ${GTEST_INCLUDE_DIRS}
 )
 
+# Create library
+add_library(laser_geometry SHARED src/laser_geometry.cpp)
+
+target_include_directories(laser_geometry
+    PUBLIC
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+        $<INSTALL_INTERFACE:include/${PROJECT_NAME}>
+)
+
+target_link_libraries(laser_geometry PUBLIC
+    sensor_msgs
+    geometry_msgs
+    robot_time
+    tf2
+)
+
+if(TARGET Eigen3::Eigen)
+    target_link_libraries(laser_geometry PUBLIC Eigen3::Eigen)
+else()
+    target_include_directories(laser_geometry PUBLIC ${EIGEN3_INCLUDE_DIRS})
+endif()
+
 # Causes the visibility macros to use dllexport rather than dllimport,
 # which is appropriate when building the dll but not consuming it.
 target_compile_definitions(laser_geometry PRIVATE "LASER_GEOMETRY_BUILDING_LIBRARY")
 
-# Export old-style CMake variables
-ament_export_include_directories("include/${PROJECT_NAME}")
-ament_export_libraries(laser_geometry)
-
-# Export modern CMake targets
-ament_export_targets(laser_geometry)
-
-ament_export_dependencies(
-  Eigen3
-  sensor_msgs
-  tf2
+# Install targets
+install(
+    TARGETS laser_geometry
+    EXPORT laser_geometry
+    ARCHIVE DESTINATION lib
+    LIBRARY DESTINATION lib
+    RUNTIME DESTINATION bin
+    INCLUDES DESTINATION include
 )
 
 install(
-  TARGETS laser_geometry
-  EXPORT laser_geometry
-  ARCHIVE DESTINATION lib
-  LIBRARY DESTINATION lib
-  RUNTIME DESTINATION bin
-  INCLUDES DESTINATION include
-)
-
-install(
-  DIRECTORY include/
-  DESTINATION include/${PROJECT_NAME}
+    DIRECTORY include/
+    DESTINATION include/${PROJECT_NAME}
 )
 
+# Tests
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
-  find_package(ament_cmake_gtest REQUIRED)
-
-  ament_add_gtest(projection_test
-    test/projection_test.cpp
-    TIMEOUT 240)
-  if(TARGET projection_test)
-    target_link_libraries(projection_test laser_geometry rclcpp::rclcpp)
-  endif()
-
-  find_package(ament_cmake_pytest REQUIRED)
-
-  ament_add_pytest_test(projection test/projection_test.py
-    TIMEOUT 120
-  )
+    enable_testing()
+    
+    add_executable(projection_test test/projection_test.cpp)
+    target_link_libraries(projection_test
+        laser_geometry
+        GTest::GTest
+        GTest::Main
+        pthread
+    )
+    add_test(NAME projection_test COMMAND projection_test)
 endif()
-
-ament_package()