clean and merge ros1 and ros2 cmakelists and package

CMakeLists.txt

@@ -1,41 +1,56 @@
 cmake_minimum_required(VERSION 3.5)
 project(rslidar_msg)
 
-# Default to C99
-if(NOT CMAKE_C_STANDARD)
-  set(CMAKE_C_STANDARD 99)
-endif()
+#ROS#
+find_package(catkin QUIET)
+if(catkin_FOUND)
+  message(=============================================================)
+  message("-- ROS Found. ROS Support is turned On.")
+  message(=============================================================)
 
-# Default to C++14
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
-endif()
+  find_package(catkin REQUIRED COMPONENTS
+    std_msgs
+    message_generation
+  )
 
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
-endif()
+  add_message_files(
+    DIRECTORY msg
+    FILES
+      RslidarPacket.msg
+  )
 
-# find dependencies
-find_package(ament_cmake REQUIRED)
-find_package(std_msgs REQUIRED)
-find_package(rclcpp REQUIRED)
-find_package(builtin_interfaces REQUIRED)
-find_package(rosidl_default_generators REQUIRED)
-
-rosidl_generate_interfaces(${PROJECT_NAME}
-  "msg/RslidarPacket.msg"
-  DEPENDENCIES builtin_interfaces std_msgs
- )
-
-if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  # the following line skips the linter which checks for copyrights
-  # uncomment the line when a copyright and license is not present in all source files
-  #set(ament_cmake_copyright_FOUND TRUE)
-  # the following line skips cpplint (only works in a git repo)
-  # uncomment the line when this package is not in a git repo
-  #set(ament_cmake_cpplint_FOUND TRUE)
-  ament_lint_auto_find_test_dependencies()
+  generate_messages(DEPENDENCIES std_msgs)
+  catkin_package(CATKIN_DEPENDS std_msgs message_runtime)
 endif()
 
-ament_package()
+
+#ROS2#
+find_package(ament_cmake QUIET)
+if(ament_cmake_FOUND)
+
+  message(=============================================================)
+  message("-- ROS2 Found. ROS2 Support is turned On.")
+  message(=============================================================)
+
+  # Default to C++17
+  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(builtin_interfaces REQUIRED)
+  find_package(std_msgs REQUIRED)
+  find_package(rosidl_default_generators REQUIRED)
+
+  rosidl_generate_interfaces(${PROJECT_NAME}
+    "msg/RslidarPacket.msg"
+    DEPENDENCIES builtin_interfaces std_msgs
+    ADD_LINTER_TESTS
+  )
+
+  ament_export_dependencies(rosidl_default_runtime)
+  ament_package()
+endif()

README.md

@@ -1,5 +1,3 @@
 ## ROS2 LiDAR Packet Message
 
-
-
-**This project is the custom LiDAR packet message in ROS2 environment. User need to put this project and rslidar_sdk in same workspace to compile.**
+**This project is the custom LiDAR packet message in ROS2 environment. User need to put this project and rslidar_sdk in same workspace to compile.**

package.xml

@@ -2,28 +2,26 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>rslidar_msg</name>
-  <version>0.0.0</version>
-  <description>ros msgs for the rslidar_sdk project</description>
+  <version>1.5.16</version>
+  <description>Messages for the rslidar_sdk project</description>
   <maintainer email="zdxiao@robosense.cn">robosense</maintainer>
   <license>BSD</license>
 
-  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
 
-  <depend>std_msgs</depend>
-  <depend>rclcpp</depend>
-
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
+  <buildtool_depend condition="$ROS_VERSION == 2">rosidl_default_generators</buildtool_depend>
 
-  <build_depend>builtin_interfaces</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">message_generation</build_depend>
 
-  <exec_depend>builtin_interfaces</exec_depend>
-  <build_depend>rosidl_default_generators</build_depend>
-
-  <exec_depend>rosidl_default_runtime</exec_depend>
+  <depend condition="$ROS_VERSION == 2">builtin_interfaces</depend>
+  <depend>std_msgs</depend>
 
-<member_of_group>rosidl_interface_packages</member_of_group>
+  <exec_depend condition="$ROS_VERSION == 1">message_runtime</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">rosidl_default_runtime</exec_depend>
+  <test_depend condition="$ROS_VERSION == 2">ament_lint_common</test_depend>
+  <member_of_group condition="$ROS_VERSION == 2">rosidl_interface_packages</member_of_group>
   <export>
-    <build_type>ament_cmake</build_type>
+    <build_type condition="$ROS_VERSION == 2">ament_cmake</build_type>
   </export>
 </package>