refactor(radar_scan_to_pointcloud2): add PCL dependency and update CM…

…akeLists.txt Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
autowarefoundation · Jul 9, 2024 · 44ca257 · 44ca257
1 parent 3ccb1eb
commit 44ca257
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Showing 2 changed files with 10 additions and 1 deletion.
diff --git a/sensing/radar_scan_to_pointcloud2/CMakeLists.txt b/sensing/radar_scan_to_pointcloud2/CMakeLists.txt
@@ -5,11 +5,20 @@ project(radar_scan_to_pointcloud2)
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
+find_package(PCL REQUIRED COMPONENTS common)
+
 # Targets
 ament_auto_add_library(${PROJECT_NAME} SHARED
   src/radar_scan_to_pointcloud2_node.cpp
 )
 
+target_include_directories(${PROJECT_NAME}
+  SYSTEM PUBLIC ${PCL_INCLUDE_DIRS}
+)
+target_link_libraries(${PROJECT_NAME}
+  ${PCL_LIBRARIES}
+)
+
 rclcpp_components_register_node(${PROJECT_NAME}
   PLUGIN "autoware::radar_scan_to_pointcloud2::RadarScanToPointcloud2Node"
   EXECUTABLE radar_scan_to_pointcloud2_node

diff --git a/sensing/radar_scan_to_pointcloud2/package.xml b/sensing/radar_scan_to_pointcloud2/package.xml
@@ -14,8 +14,8 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>libpcl-common</depend>
   <depend>pcl_conversions</depend>
-  <depend>pcl_ros</depend>
   <depend>radar_msgs</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>