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Support ros2 Humble.

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uavfly
2025-10-28 18:28:57 +08:00
parent 97b0042e39
commit 5dcf0c4c26
23 changed files with 1432 additions and 957 deletions
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43
package.xml
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@@ -1,5 +1,5 @@
<?xml version="1.0"?>
<package>
<package format="3">
<name>point_lio</name>
<version>0.0.0</version>
@@ -16,32 +16,25 @@
<author email="hdj65822@connect.hku.hk">Dongjiao He</author>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>geometry_msgs</build_depend>
<build_depend>nav_msgs</build_depend>
<build_depend>roscpp</build_depend>
<build_depend>rospy</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>sensor_msgs</build_depend>
<build_depend>tf</build_depend>
<build_depend>pcl_ros</build_depend>
<build_depend>livox_ros_driver</build_depend>
<build_depend>message_generation</build_depend>
<!-- ROS2 uses ament as build system -->
<buildtool_depend>ament_cmake</buildtool_depend>
<run_depend>geometry_msgs</run_depend>
<run_depend>nav_msgs</run_depend>
<run_depend>sensor_msgs</run_depend>
<run_depend>roscpp</run_depend>
<run_depend>rospy</run_depend>
<run_depend>std_msgs</run_depend>
<run_depend>tf</run_depend>
<run_depend>pcl_ros</run_depend>
<run_depend>livox_ros_driver</run_depend>
<run_depend>message_runtime</run_depend>
<!-- Dependencies are now also categorized as build, build_export, and exec_depend -->
<depend>rclcpp</depend> <!-- roscpp in ROS1 is replaced by rclcpp in ROS2 -->
<depend>rclpy</depend> <!-- rospy is replaced by rclpy in ROS2 -->
<depend>sensor_msgs</depend>
<depend>geometry_msgs</depend>
<depend>nav_msgs</depend>
<depend>tf2_ros</depend> <!-- tf in ROS1 is replaced by tf2 in ROS2 -->
<depend>pcl_ros</depend> <!-- For PCL support -->
<depend>pcl_conversions</depend> <!-- For PCL support -->
<depend>livox_ros_driver2</depend>
<test_depend>rostest</test_depend>
<test_depend>rosbag</test_depend>
<!-- test_depend remains the same, but make sure the testing tools you use are compatible with ROS2 -->
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>
</package>