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refactor(radar_scan_to_pointcloud2): fix namespace and directory structure #7912

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Jul 10, 2024
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refactor(radar_scan_to_pointcloud2): fix namespace and directory structure #7912

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3ccb1eb
refactor(radar_scan_to_pointcloud2): fix namespace and directory stru…
technolojin Jul 9, 2024
44ca257
refactor(radar_scan_to_pointcloud2): add PCL dependency and update CM…
technolojin Jul 9, 2024
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17 changes: 13 additions & 4 deletions sensing/radar_scan_to_pointcloud2/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -5,13 +5,22 @@ project(radar_scan_to_pointcloud2)
find_package(autoware_cmake REQUIRED)
autoware_package()

find_package(PCL REQUIRED COMPONENTS common)

# Targets
ament_auto_add_library(radar_scan_to_pointcloud2_node_component SHARED
src/radar_scan_to_pointcloud2_node/radar_scan_to_pointcloud2_node.cpp
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(radar_scan_to_pointcloud2_node_component
PLUGIN "radar_scan_to_pointcloud2::RadarScanToPointcloud2Node"
rclcpp_components_register_node(${PROJECT_NAME}
PLUGIN "autoware::radar_scan_to_pointcloud2::RadarScanToPointcloud2Node"
EXECUTABLE radar_scan_to_pointcloud2_node
)

Expand Down
2 changes: 1 addition & 1 deletion sensing/radar_scan_to_pointcloud2/package.xml
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Expand Up @@ -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>
Expand Down
8 changes: 4 additions & 4 deletions ...2_node/radar_scan_to_pointcloud2_node.cpp → ...d2/src/radar_scan_to_pointcloud2_node.cpp
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Expand Up @@ -12,7 +12,7 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#include "radar_scan_to_pointcloud2/radar_scan_to_pointcloud2_node.hpp"
#include "radar_scan_to_pointcloud2_node.hpp"

#include <pcl/pcl_base.h>
#include <pcl/point_cloud.h>
Expand Down Expand Up @@ -87,7 +87,7 @@
}
} // namespace

namespace radar_scan_to_pointcloud2
namespace autoware::radar_scan_to_pointcloud2
{
using radar_msgs::msg::RadarReturn;
using radar_msgs::msg::RadarScan;
Expand Down Expand Up @@ -153,7 +153,7 @@
}
}

} // namespace radar_scan_to_pointcloud2
} // namespace autoware::radar_scan_to_pointcloud2

#include "rclcpp_components/register_node_macro.hpp"
RCLCPP_COMPONENTS_REGISTER_NODE(radar_scan_to_pointcloud2::RadarScanToPointcloud2Node)
RCLCPP_COMPONENTS_REGISTER_NODE(autoware::radar_scan_to_pointcloud2::RadarScanToPointcloud2Node)

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10 changes: 5 additions & 5 deletions ...cloud2/radar_scan_to_pointcloud2_node.hpp → ...d2/src/radar_scan_to_pointcloud2_node.hpp
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Expand Up @@ -12,8 +12,8 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef RADAR_SCAN_TO_POINTCLOUD2__RADAR_SCAN_TO_POINTCLOUD2_NODE_HPP_
#define RADAR_SCAN_TO_POINTCLOUD2__RADAR_SCAN_TO_POINTCLOUD2_NODE_HPP_
#ifndef RADAR_SCAN_TO_POINTCLOUD2_NODE_HPP_
#define RADAR_SCAN_TO_POINTCLOUD2_NODE_HPP_

#include "rclcpp/rclcpp.hpp"

Expand All @@ -24,7 +24,7 @@
#include <memory>
#include <vector>

namespace radar_scan_to_pointcloud2
namespace autoware::radar_scan_to_pointcloud2
{
using radar_msgs::msg::RadarReturn;
using radar_msgs::msg::RadarScan;
Expand Down Expand Up @@ -65,6 +65,6 @@ class RadarScanToPointcloud2Node : public rclcpp::Node
NodeParam node_param_{};
};

} // namespace radar_scan_to_pointcloud2
} // namespace autoware::radar_scan_to_pointcloud2

#endif // RADAR_SCAN_TO_POINTCLOUD2__RADAR_SCAN_TO_POINTCLOUD2_NODE_HPP_
#endif // RADAR_SCAN_TO_POINTCLOUD2_NODE_HPP_
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