Support ros2 Humble.

CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(point_lio)
 
 SET(CMAKE_BUILD_TYPE "Debug")
@@ -15,26 +15,7 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -pthread -std=c++0x -std=c++14 -fexceptions")
 
-message("Current CPU archtecture: ${CMAKE_SYSTEM_PROCESSOR}")
-if(CMAKE_SYSTEM_PROCESSOR MATCHES "(x86)|(X86)|(amd64)|(AMD64)" )
-  include(ProcessorCount)
-  ProcessorCount(N)
-  message("Processer number:  ${N}")
-  if(N GREATER 5)
-    add_definitions(-DMP_EN)
-    add_definitions(-DMP_PROC_NUM=4)
-    message("core for MP:  3")
-  elseif(N GREATER 3)
-    math(EXPR PROC_NUM "${N} - 2")
-    add_definitions(-DMP_EN)
-    add_definitions(-DMP_PROC_NUM="${PROC_NUM}")
-    message("core for MP:  ${PROC_NUM}")
-  else()
-    add_definitions(-DMP_PROC_NUM=1)
-  endif()
-else()
-  add_definitions(-DMP_PROC_NUM=1)
-endif()
+#add_compile_definitions(BOOST_BIND_GLOBAL_PLACEHOLDERS)
 
 find_package(OpenMP QUIET)
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
@@ -43,22 +24,23 @@ set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}   ${OpenMP_C_FLAGS}")
 find_package(PythonLibs REQUIRED)
 find_path(MATPLOTLIB_CPP_INCLUDE_DIRS "matplotlibcpp.h")
 
-find_package(catkin REQUIRED COMPONENTS
-  geometry_msgs
-  nav_msgs
-  sensor_msgs
-  roscpp
-  rospy
-  std_msgs
-  pcl_ros
-  tf
-  livox_ros_driver
-  message_generation
-  eigen_conversions
-)
+# Find packages
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclpy REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(pcl_ros REQUIRED)
+find_package(pcl_conversions REQUIRED)
+find_package(tf2_ros REQUIRED)
+find_package(tf2_eigen REQUIRED)
+find_package(livox_ros_driver2 REQUIRED)
+find_package(visualization_msgs REQUIRED)
+
 
 find_package(Eigen3 REQUIRED)
-find_package(PCL 1.8 REQUIRED)
+find_package(PCL REQUIRED)
 
 message(Eigen: ${EIGEN3_INCLUDE_DIR})
 
@@ -74,22 +56,36 @@ link_directories(
 	${PCL_LIBRARY_DIRS}
 )
 
-generate_messages(
- DEPENDENCIES
- geometry_msgs
+# Declare a ROS2 executable
+add_executable(pointlio_mapping src/laserMapping.cpp src/li_initialization.cpp src/parameters.cpp src/preprocess.cpp src/Estimator.cpp src/IMU_Processing.cpp)
+ament_target_dependencies(pointlio_mapping
+        rclcpp
+        rclpy
+        geometry_msgs
+        nav_msgs
+        sensor_msgs
+        pcl_ros
+        pcl_conversions
+        tf2_ros
+        tf2_eigen
+        livox_ros_driver2
+        visualization_msgs
 )
-
-catkin_package(
-  CATKIN_DEPENDS geometry_msgs nav_msgs roscpp rospy std_msgs message_runtime
-  DEPENDS EIGEN3 PCL
-  INCLUDE_DIRS
-)
-
-add_executable(pointlio_mapping src/laserMapping.cpp 
-                src/li_initialization.cpp src/parameters.cpp src/preprocess.cpp src/Estimator.cpp 
-                src/IMU_Processing.cpp)
-target_link_libraries(pointlio_mapping ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${PYTHON_LIBRARIES})
+target_link_libraries(pointlio_mapping ${PYTHON_LIBRARIES})
 target_include_directories(pointlio_mapping PRIVATE ${PYTHON_INCLUDE_DIRS})
 
+# Install the executable
+install(TARGETS
+        pointlio_mapping
+        DESTINATION lib/${PROJECT_NAME}
+)
 
+install(
+        DIRECTORY config launch rviz_cfg
+        DESTINATION share/${PROJECT_NAME}
+)
 
+# Export dependencies
+ament_export_dependencies(rclcpp rclpy geometry_msgs nav_msgs sensor_msgs pcl_ros pcl_conversions tf2_ros tf2_eigen livox_ros_driver2 Eigen3)
+
+ament_package()