Initial commit

2026-07-27 13:51:19 +08:00
commit 7bec56ca51
5408 changed files with 1126933 additions and 0 deletions
@@ -0,0 +1,66 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(velodyne_laserscan)
+
+# Set minimum C++ standard to C++11
+if (NOT "${CMAKE_CXX_STANDARD_COMPUTED_DEFAULT}")
+  message(STATUS "Changing CXX_STANDARD from C++98 to C++11")
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+elseif ("${CMAKE_CXX_STANDARD_COMPUTED_DEFAULT}" STREQUAL "98")
+  message(STATUS "Changing CXX_STANDARD from C++98 to C++11")
+  set(CMAKE_CXX_STANDARD 11)
+endif()
+
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  nodelet
+  sensor_msgs
+  dynamic_reconfigure
+  roslint
+)
+
+generate_dynamic_reconfigure_options(
+  cfg/VelodyneLaserScan.cfg
+)
+
+catkin_package(CATKIN_DEPENDS
+  sensor_msgs
+)
+
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+)
+
+add_library(${PROJECT_NAME}
+  src/velodyne_laserscan.cpp
+  src/nodelet.cpp
+)
+add_dependencies(${PROJECT_NAME}
+  ${PROJECT_NAME}_gencfg
+)
+target_link_libraries(${PROJECT_NAME}
+  ${catkin_LIBRARIES}
+)
+
+add_executable(${PROJECT_NAME}_node
+  src/node.cpp
+)
+target_link_libraries(${PROJECT_NAME}_node
+  ${catkin_LIBRARIES}
+  ${PROJECT_NAME}
+)
+
+install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+        RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+)
+install(FILES nodelets.xml
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
+roslint_cpp()
+
+if (CATKIN_ENABLE_TESTING)
+  add_subdirectory(tests)
+endif()
+