Single package.xml file for both ROS1 and ROS2

.gitignore

@@ -12,4 +12,3 @@ cmake-build-debug/
 version.h
 *.pb.cc
 *.pb.h
-package.xml

CMakeLists.txt

@@ -2,11 +2,6 @@ cmake_minimum_required(VERSION 3.5)
 cmake_policy(SET CMP0048 NEW)
 project(rslidar_sdk)
 
-#=======================================
-# Compile setup (ORIGINAL, CATKIN, COLCON)
-#=======================================
-set(COMPILE_METHOD CATKIN)
-
 #=======================================
 # Custom Point Type (XYZI, XYZIRT)
 #=======================================
@@ -32,7 +27,6 @@ if(roscpp_FOUND)
   message("-- ROS Found, Ros Support is turned On!")
   message(=============================================================)
   add_definitions(-DROS_FOUND)
-  configure_file(${CMAKE_CURRENT_SOURCE_DIR}/package_ros1.xml ${CMAKE_CURRENT_SOURCE_DIR}/package.xml COPYONLY)
 
   find_package(roslib QUIET)
   include_directories(${roscpp_INCLUDE_DIRS} ${roslib_INCLUDE_DIRS})
@@ -46,12 +40,11 @@ endif(roscpp_FOUND)
 
 #ROS2#
 find_package(rclcpp QUIET)
-if(rclcpp_FOUND AND ${COMPILE_METHOD} STREQUAL "COLCON")
+if(rclcpp_FOUND)
   message(=============================================================)
   message("-- ROS2 Found, Ros2 Support is turned On!")
   message(=============================================================)
   add_definitions(-DROS2_FOUND)
-  configure_file(${CMAKE_CURRENT_SOURCE_DIR}/package_ros2.xml ${CMAKE_CURRENT_SOURCE_DIR}/package.xml COPYONLY)
   set(CMAKE_CXX_STANDARD 14)
 
   find_package(ament_cmake REQUIRED)
@@ -61,11 +54,11 @@ if(rclcpp_FOUND AND ${COMPILE_METHOD} STREQUAL "COLCON")
   find_package(pcl_conversions REQUIRED)
   include_directories(${rclcpp_INCLUDE_DIRS})
 
-else(rclcpp_FOUND AND ${COMPILE_METHOD} STREQUAL "COLCON")
+else(rclcpp_FOUND)
   message(=============================================================)
   message("-- ROS2 Not Found, Ros2 Support is turned Off!")
   message(=============================================================)
-endif(rclcpp_FOUND AND ${COMPILE_METHOD} STREQUAL "COLCON")
+endif(rclcpp_FOUND)
 
 #Protobuf#
 find_package(Protobuf QUIET)
@@ -100,7 +93,7 @@ link_directories(${PCL_LIBRARY_DIRS})
 add_definitions(${PCL_DEFINITIONS})
 
 #Catkin#
-if(${COMPILE_METHOD} STREQUAL "CATKIN")
+if(roscpp_FOUND)
   add_definitions(-DRUN_IN_ROS_WORKSPACE)
   find_package(catkin REQUIRED
     COMPONENTS
@@ -118,7 +111,7 @@ if(${COMPILE_METHOD} STREQUAL "CATKIN")
       roslib
       pcl_conversions
   )
-endif(${COMPILE_METHOD} STREQUAL "CATKIN")
+endif(roscpp_FOUND)
 
 #Include directory#
 include_directories(${PROJECT_SOURCE_DIR}/src)
@@ -173,25 +166,23 @@ endif(NOT PROTOC MATCHES "NOTFOUND" AND Protobuf_FOUND)
 #Ros#
 if(roscpp_FOUND)
   target_link_libraries(rslidar_sdk_node ${ROS_LIBS})
-  if(${COMPILE_METHOD} STREQUAL "CATKIN")
-    install(TARGETS rslidar_sdk_node
-            RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-            LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-            ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
-    install(DIRECTORY launch/
-            DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
-            PATTERN ".svn" EXCLUDE)
-    install(DIRECTORY config/
-            DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config
-            PATTERN ".svn" EXCLUDE)
-    install(DIRECTORY rviz/
-            DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/rviz
-            PATTERN ".svn" EXCLUDE)
-  endif()
+  install(TARGETS rslidar_sdk_node
+          RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+          LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+          ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+  install(DIRECTORY launch/
+          DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
+          PATTERN ".svn" EXCLUDE)
+  install(DIRECTORY config/
+          DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config
+          PATTERN ".svn" EXCLUDE)
+  install(DIRECTORY rviz/
+          DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/rviz
+          PATTERN ".svn" EXCLUDE)
 endif(roscpp_FOUND)
 
 #Ros2#
-if(rclcpp_FOUND AND ${COMPILE_METHOD} STREQUAL "COLCON")
+if(rclcpp_FOUND)
   ament_target_dependencies(rslidar_sdk_node rclcpp sensor_msgs std_msgs rslidar_msg)
   install(TARGETS
     rslidar_sdk_node
@@ -203,4 +194,4 @@ if(rclcpp_FOUND AND ${COMPILE_METHOD} STREQUAL "COLCON")
     DESTINATION share/${PROJECT_NAME}
   )
   ament_package()
-endif(rclcpp_FOUND AND ${COMPILE_METHOD} STREQUAL "COLCON")
+endif(rclcpp_FOUND)

README.md

@@ -130,20 +130,7 @@ cmake .. && make -j4
 
 ### 4.2 Compile with ROS catkin tools
 
-(1) Open the *CMakeLists.txt* in the project，modify the line  on top of the file **set(COMPILE_METHOD ORIGINAL)** to **set(COMPILE_METHOD CATKIN)**.
-
-```cmake
-#=======================================
-# Compile setup (ORIGINAL,CATKIN,COLCON)
-#=======================================
-set(COMPILE_METHOD CATKIN)
-```
-
-(2) Copy the file *package_ros1.xml*  in the rslidar_sdk to *package.xml*
-
-(3) Create a new workspace folder, and create a *src* folder in it. Then put the rslidar_sdk project into the *src* folder.
-
-(4) Go back to the root of workspace, run the following commands to compile and run. (if using zsh, replace the 2nd command with *source devel/setup.zsh*).
+(1) Run the following commands to compile and run. (if using zsh, replace the 2nd command with *source devel/setup.zsh*).
 
 ```sh
 catkin_make
@@ -153,22 +140,7 @@ roslaunch rslidar_sdk start.launch
 
 ### 4.3 Compile with ROS2-colcon
 
-(1) Open the *CMakeLists.txt* in the project，modify the line  on top of the file **set(COMPILE_METHOD ORIGINAL)** to **set(COMPILE_METHOD COLCON)**.
-
-```cmake
-#=======================================
-# Compile setup (ORIGINAL,CATKIN,COLCON)
-#=======================================
-set(COMPILE_METHOD COLCON)
-```
-
-(2) Copy the file *package_ros2.xml*  in the rslidar_sdk to *package.xml*
-
-(3) Create a new workspace folder, and create a *src* folder in it. Then put the rslidar_sdk project in the *src* folder.
-
-(4) Download the packet definition project in ROS2 through [link](https://github.com/RoboSense-LiDAR/rslidar_msg), then put the project rslidar_msg in the *src* folder you just created.
-
-(5) Go back to the root of workspace, run the following commands to compile and run. (if using zsh, replace the 2nd command with *source install/setup.zsh*).
+(1) Run the following commands to compile and run. (if using zsh, replace the 2nd command with *source install/setup.zsh*).
 
 ```sh
 colcon build

README_CN.md

@@ -127,20 +127,7 @@ cmake .. && make -j4
 
 ### 4.2 依赖于ROS-catkin编译
 
-(1) 打开工程内的*CMakeLists.txt*文件，将文件顶部的**set(COMPILE_METHOD ORIGINAL)**改为**set(COMPILE_METHOD CATKIN)**。
-
-```cmake
-#=======================================
-# Compile setup (ORIGINAL,CATKIN,COLCON)
-#=======================================
-set(COMPILE_METHOD CATKIN)
-```
-
-(2) 将rslidar_sdk工程目录下的*package_ros1.xml*文件复制到*package.xml*。
-
-(3) 新建一个文件夹作为工作空间，然后再新建一个名为*src*的文件夹, 将rslidar_sdk工程放入*src*文件夹内。
-
-(4) 返回工作空间目录，执行以下命令即可编译&运行(若使用.zsh,将第二句指令替换为 *source devel/setup.zsh*)。
+(1) 返回工作空间目录，执行以下命令即可编译&运行(若使用.zsh,将第二句指令替换为 *source devel/setup.zsh*)。
 
 ```sh
 catkin_make
@@ -150,22 +137,7 @@ roslaunch rslidar_sdk start.launch
 
 ### 4.3 依赖于ROS2-colcon编译
 
-(1) 打开工程内的*CMakeLists.txt*文件，将文件顶部的**set(COMPILE_METHOD ORIGINAL)**改为**set(COMPILE_METHOD COLCON)**。
-
-```cmake
-#=======================================
-# Compile setup (ORIGINAL,CATKIN,COLCON)
-#=======================================
-set(COMPILE_METHOD COLCON)
-```
-
-(2) 将rslidar_sdk工程目录下的*package_ros2.xml*文件复制到*package.xml*。
-
-(3) 新建一个文件夹作为工作空间，然后再新建一个名为*src*的文件夹, 将rslidar_sdk工程放入*src*文件夹内。
-
-(4) 通过[链接](https://github.com/RoboSense-LiDAR/rslidar_msg)下载ROS2环境下的雷达packet消息定义， 将rslidar_msg工程也放在刚刚新建的*src*文件夹内，与rslidar_sdk并列。
-
-(5) 返回工作空间目录，执行以下命令即可编译&运行(若使用.zsh,将第二句指令替换为 *source install/setup.zsh*)。
+(1) 返回工作空间目录，执行以下命令即可编译&运行(若使用.zsh,将第二句指令替换为 *source install/setup.zsh*)。
 
 ```sh
 colcon build

package.xml

@@ -0,0 +1,27 @@
+<?xml version="1.0"?>
+<package format="3">
+  <name>rslidar_sdk</name>
+  <version>1.3.2</version>
+  <description>The rslidar_sdk package</description>
+  <maintainer email="[email protected]">robosense</maintainer>
+  <license>BSD</license>
+
+  <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
+
+  <depend>libpcap</depend>
+  <depend>libpcl-all-dev</depend>
+  <depend>pcl_conversions</depend>
+  <depend condition="$ROS_VERSION == 1">pcl_ros</depend>
+  <depend condition="$ROS_VERSION == 2">rclcpp</depend>
+  <depend condition="$ROS_VERSION == 1">roscpp</depend>
+  <depend>roslib</depend>
+  <depend condition="$ROS_VERSION == 2">rslidar_msg</depend>
+  <depend>sensor_msgs</depend>
+  <depend>std_msgs</depend>
+  <depend>yaml-cpp</depend>
+
+  <export>
+     <build_type condition="$ROS_VERSION == 2">ament_cmake</build_type>
+  </export>
+</package>