improved cmakelist, reduce rate

Author: estherag

easynav_pointcloud_maps_builder/CMakeLists.txt

@@ -16,25 +16,18 @@ find_package(rclcpp_lifecycle REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(easynav_common REQUIRED)
 
-include_directories(include)
 
 # Library
 add_library(${PROJECT_NAME} SHARED
   src/easynav_pointcloud_maps_builder/PointcloudMapsBuilderNode.cpp
 )
 
-target_link_libraries(${PROJECT_NAME} PUBLIC
-  rclcpp::rclcpp
-  rclcpp_lifecycle::rclcpp_lifecycle
-  sensor_msgs::sensor_msgs_library
-  easynav_common::easynav_common
+target_include_directories(${PROJECT_NAME} PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include/${PROJECT_NAME}>
 )
 
-# Executable
-add_executable(pointcloud_maps_builder_main src/pointcloud_maps_builder_main.cpp)
-
-target_link_libraries(pointcloud_maps_builder_main PUBLIC
-  ${PROJECT_NAME}
+target_link_libraries(${PROJECT_NAME} PUBLIC
   rclcpp::rclcpp
   rclcpp_lifecycle::rclcpp_lifecycle
   sensor_msgs::sensor_msgs_library
@@ -43,30 +36,38 @@ target_link_libraries(pointcloud_maps_builder_main PUBLIC
 
 # Install headers
 install(DIRECTORY include/
-  DESTINATION include/
+  DESTINATION include/${PROJECT_NAME}
 )
 
 # Install targets
 install(TARGETS
   ${PROJECT_NAME}
-  pointcloud_maps_builder_main
+  EXPORT export_${PROJECT_NAME}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION lib/${PROJECT_NAME}
 )
 
+# Executable
+add_executable(pointcloud_maps_builder_main src/pointcloud_maps_builder_main.cpp)
+target_link_libraries(pointcloud_maps_builder_main PUBLIC
+  ${PROJECT_NAME}
+)
 # Tests
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
+  set(ament_cmake_copyright_FOUND TRUE)
+  set(ament_cmake_cpplint_FOUND TRUE)
   ament_lint_auto_find_test_dependencies()
 
   find_package(ament_cmake_gtest REQUIRED)
   add_subdirectory(tests)
 endif()
 
 # Export
-ament_export_include_directories(include)
+ament_export_include_directories("include/${PROJECT_NAME}")
 ament_export_libraries(${PROJECT_NAME})
+ament_export_targets(export_${PROJECT_NAME})
 ament_export_dependencies(
   rclcpp
   rclcpp_lifecycle

easynav_pointcloud_maps_builder/src/easynav_pointcloud_maps_builder/PointcloudMapsBuilderNode.cpp

@@ -86,7 +86,7 @@ PointcloudMapsBuilderNode::on_configure(const rclcpp_lifecycle::State & state)
     get_parameter(sensor_id + ".type", msg_type);
     get_parameter(sensor_id + ".group", group);
 
-    RCLCPP_INFO(get_logger(),
+    RCLCPP_DEBUG(get_logger(),
                   "Loaded sensor parameters: id=%s topic=%s type=%s group=%s",
                   sensor_id.c_str(), topic.c_str(), msg_type.c_str(), group.c_str());
 
@@ -101,8 +101,8 @@ PointcloudMapsBuilderNode::on_configure(const rclcpp_lifecycle::State & state)
 
     perceptions_[group].emplace_back(PerceptionPtr{ptr, sub});
 
-    RCLCPP_INFO(get_logger(), "Creating perception for sensor %s", sensor_id.c_str());
-    RCLCPP_INFO(get_logger(), "Handler group = %s", group.c_str());
+    RCLCPP_DEBUG(get_logger(), "Creating perception for sensor %s", sensor_id.c_str());
+    RCLCPP_DEBUG(get_logger(), "Handler group = %s", group.c_str());
   }
 
   return CallbackReturnT::SUCCESS;

easynav_pointcloud_maps_builder/src/pointcloud_maps_builder_main.cpp

@@ -56,7 +56,7 @@ int main(int argc, char **argv)
   }
 
   tf2_ros::TransformListener tf_listener(*tf_buffer, tf_node, true);
-  rclcpp::Rate rate(100);
+  rclcpp::Rate rate(10);
 
   while (rclcpp::ok()) {
     exec.spin_some();