DuongTD/laser_geometry
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Build dynamically using visibility control

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This commit is contained in:
Martin Idel 2018-03-27 09:13:34 +02:00
parent 2ae4771b7b
commit b23632b018
2 changed files with 5 additions and 4 deletions
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4
CMakeLists.txt
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@ -23,15 +23,13 @@ include_directories(include
${EIGEN3_INCLUDE_DIR} ${EIGEN3_INCLUDE_DIR}
) )
add_library(laser_geometry src/laser_geometry.cpp) add_library(laser_geometry SHARED src/laser_geometry.cpp)
target_link_libraries(laser_geometry target_link_libraries(laser_geometry
${rclcpp_LIBRARIES} ${rclcpp_LIBRARIES}
${sensor_msgs_LIBRARIES} ${sensor_msgs_LIBRARIES}
${tf2_LIBRARIES} ${tf2_LIBRARIES}
) )
set_property(TARGET laser_geometry PROPERTY POSITION_INDEPENDENT_CODE ON)
ament_export_include_directories(include) ament_export_include_directories(include)
ament_export_interfaces(laser_geometry) ament_export_interfaces(laser_geometry)
ament_export_libraries(laser_geometry) ament_export_libraries(laser_geometry)

5
include/laser_geometry/laser_geometry.hpp
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@ -41,6 +41,7 @@
#include "tf2/buffer_core.h" #include "tf2/buffer_core.h"
#include "sensor_msgs/msg/laser_scan.hpp" #include "sensor_msgs/msg/laser_scan.hpp"
#include "sensor_msgs/msg/point_cloud2.hpp" #include "sensor_msgs/msg/point_cloud2.hpp"
#include "laser_geometry/visibility_control.hpp"
namespace laser_geometry namespace laser_geometry
{ {
@ -92,7 +93,7 @@ enum ChannelOption
* - channel_option::Timestamp - Create a channel named "stamps" containing the specific timestamp at which each point was measured * - channel_option::Timestamp - Create a channel named "stamps" containing the specific timestamp at which each point was measured
*/ */
// TODO(anyone): the support for PointCloud1 has been removed, since PointCloud1 is deprecated. // TODO(Martin-Idel-SI): the support for PointCloud1 has been removed for now.
// Refer to the GitHub issue #29: https://github.com/ros-perception/laser_geometry/issues/29 // Refer to the GitHub issue #29: https://github.com/ros-perception/laser_geometry/issues/29
class LaserProjection class LaserProjection
@ -117,6 +118,7 @@ public:
* channel_option::Intensity, channel_option::Index, * channel_option::Intensity, channel_option::Index,
* channel_option::Distance, channel_option::Timestamp. * channel_option::Distance, channel_option::Timestamp.
*/ */
LASER_GEOMETRY_PUBLIC
void projectLaser( void projectLaser(
const sensor_msgs::msg::LaserScan & scan_in, const sensor_msgs::msg::LaserScan & scan_in,
sensor_msgs::msg::PointCloud2 & cloud_out, sensor_msgs::msg::PointCloud2 & cloud_out,
@ -148,6 +150,7 @@ public:
* channel_option::Intensity, channel_option::Index, * channel_option::Intensity, channel_option::Index,
* channel_option::Distance, channel_option::Timestamp. * channel_option::Distance, channel_option::Timestamp.
*/ */
LASER_GEOMETRY_PUBLIC
void transformLaserScanToPointCloud( void transformLaserScanToPointCloud(
const std::string & target_frame, const std::string & target_frame,
const sensor_msgs::msg::LaserScan & scan_in, const sensor_msgs::msg::LaserScan & scan_in,