lidarlib_ros: ROS2 bridge for liblidarlib (GS1-5 LaserScan)

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>

CMakeLists.txt

@@ -0,0 +1,36 @@
+cmake_minimum_required(VERSION 3.8)
+project(lidarlib_ros)
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(sensor_msgs REQUIRED)
+
+# Thư viện lidar đã cài ở /usr/local (sudo cmake --install build --prefix /usr/local)
+# Nếu cài vào $HOME/.local thì configure với: -DCMAKE_PREFIX_PATH=$HOME/.local
+find_package(lidarlib REQUIRED)
+
+add_executable(lidarlib_node src/lidarlib_node.cpp)
+target_link_libraries(lidarlib_node lidarlib::lidarlib)
+ament_target_dependencies(lidarlib_node rclcpp sensor_msgs)
+
+install(TARGETS lidarlib_node
+  DESTINATION lib/${PROJECT_NAME})
+
+install(DIRECTORY launch config rviz
+  DESTINATION share/${PROJECT_NAME})
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()