feat(cmake): make colcon build fast again

nebula_common/CMakeLists.txt

@@ -2,13 +2,9 @@ cmake_minimum_required(VERSION 3.14)
 project(nebula_common)
 
 find_package(ament_cmake_auto REQUIRED)
-find_package(PCL REQUIRED)
 find_package(PCL REQUIRED COMPONENTS common)
-find_package(pcl_conversions REQUIRED)
 find_package(yaml-cpp REQUIRED)
 
-ament_auto_find_build_dependencies()
-
 # Default to C++17
 if (NOT CMAKE_CXX_STANDARD)
     set(CMAKE_CXX_STANDARD 17)
@@ -28,21 +24,35 @@ if(BUILD_TESTING)
 endif()
 
 include_directories(
-        include
-        SYSTEM
-        ${YAML_CPP_INCLUDE_DIRS}
-        ${PCL_INCLUDE_DIRS}
-        ${PCL_COMMON_INCLUDE_DIRS}
+    include
+    SYSTEM
+    ${YAML_CPP_INCLUDE_DIRS}
+    ${PCL_INCLUDE_DIRS}
+)
+
+link_libraries(
+    ${PCL_LIBRARIES}
+    ${YAML_CPP_LIBRARIES}
+)
+
+add_library(nebula_common SHARED
+    src/nebula_common.cpp
+    src/velodyne/velodyne_calibration_decoder.cpp
 )
 
-ament_auto_add_library(nebula_common SHARED
-        src/nebula_common.cpp
-        src/velodyne/velodyne_calibration_decoder.cpp
-        )
+install(TARGETS nebula_common EXPORT export_nebula_common)
+install(DIRECTORY include/ DESTINATION include/${PROJECT_NAME})
+
+ament_export_include_directories("include/${PROJECT_NAME}")
+ament_export_targets(export_nebula_common)
+
+ament_export_dependencies(
+    PCL
+    yaml-cpp
+)
 
-target_link_libraries(nebula_common yaml-cpp)
+ament_package()
 
-ament_auto_package()
 
 # Set ROS_DISTRO macros
 set(ROS_DISTRO $ENV{ROS_DISTRO})

nebula_common/package.xml

@@ -13,7 +13,6 @@
   <buildtool_depend>ros_environment</buildtool_depend>
 
   <depend>libpcl-all-dev</depend>
-  <depend>pcl_conversions</depend>
   <depend>yaml-cpp</depend>
 
   <test_depend>ament_cmake_gtest</test_depend>

nebula_decoders/CMakeLists.txt

@@ -1,10 +1,6 @@
 cmake_minimum_required(VERSION 3.14)
 project(nebula_decoders)
 
-find_package(ament_cmake_auto REQUIRED)
-
-ament_auto_find_build_dependencies()
-
 # Default to C++17
 if (NOT CMAKE_CXX_STANDARD)
     set(CMAKE_CXX_STANDARD 17)
@@ -14,58 +10,151 @@ if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
     add_compile_options(-Wall -Wextra -Wpedantic -Wunused-function)
 endif ()
 
+
+find_package(ament_cmake_auto REQUIRED)
+find_package(PCL REQUIRED COMPONENTS common)
 find_package(angles REQUIRED)
-find_package(PCL REQUIRED)
-find_package(pcl_conversions REQUIRED)
-find_package(yaml-cpp REQUIRED)
+find_package(continental_msgs REQUIRED)
+find_package(diagnostic_msgs REQUIRED)
 find_package(nebula_common REQUIRED)
+find_package(nebula_msgs REQUIRED)
+find_package(pandar_msgs REQUIRED)
+find_package(pcl_conversions REQUIRED)
+find_package(rclcpp REQUIRED)
 find_package(robosense_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(velodyne_msgs REQUIRED)
+find_package(yaml-cpp REQUIRED)
 
-include_directories(
-        include
-        SYSTEM
-        ${YAML_CPP_INCLUDE_DIRS}
-        ${PCL_INCLUDE_DIRS}
-        ${PCL_COMMON_INCLUDE_DIRS}
+include_directories(PUBLIC
+    include
+    SYSTEM
+    ${nebula_common_INCLUDE_DIRS}
+    ${YAML_CPP_INCLUDE_DIRS}
+    ${PCL_INCLUDE_DIRS}
+    ${pcl_conversions_INCLUDE_DIRS}
+    ${rclcpp_INCLUDE_DIRS}
+    ${sensor_msgs_INCLUDE_DIRS}
+)
+
+link_libraries(
+    ${nebula_common_TARGETS}
+    ${PCL_LIBRARIES}
+    ${pcl_conversions_LIBRARIES}
+    ${rclcpp_TARGETS}
+    ${sensor_msgs_TARGETS}
 )
 
 # Lidar Decoders
 # Hesai
-ament_auto_add_library(nebula_decoders_hesai SHARED
-        src/nebula_decoders_hesai/hesai_driver.cpp
-        )
+add_library(nebula_decoders_hesai SHARED
+    src/nebula_decoders_hesai/hesai_driver.cpp
+)
+target_link_libraries(nebula_decoders_hesai PUBLIC
+    ${pandar_msgs_TARGETS}
+)
+
+target_include_directories(nebula_decoders_hesai PUBLIC
+    ${pandar_msgs_INCLUDE_DIRS}
+)
 
 # Velodyne
-ament_auto_add_library(nebula_decoders_velodyne SHARED
-        src/nebula_decoders_velodyne/velodyne_driver.cpp
-        src/nebula_decoders_velodyne/decoders/vls128_decoder.cpp
-        src/nebula_decoders_velodyne/decoders/vlp16_decoder.cpp
-        src/nebula_decoders_velodyne/decoders/vlp32_decoder.cpp
-        )
+add_library(nebula_decoders_velodyne SHARED
+    src/nebula_decoders_velodyne/velodyne_driver.cpp
+    src/nebula_decoders_velodyne/decoders/vls128_decoder.cpp
+    src/nebula_decoders_velodyne/decoders/vlp16_decoder.cpp
+    src/nebula_decoders_velodyne/decoders/vlp32_decoder.cpp
+)
+target_link_libraries(nebula_decoders_velodyne PUBLIC
+    ${angles_msgs_TARGETS}
+    ${velodyne_msgs_TARGETS}
+)
+target_include_directories(nebula_decoders_velodyne PUBLIC
+    ${angles_INCLUDE_DIRS}
+    ${velodyne_msgs_INCLUDE_DIRS}
+)
 
 # Robosense
-ament_auto_add_library(nebula_decoders_robosense SHARED
-        src/nebula_decoders_robosense/robosense_driver.cpp
-        )
+add_library(nebula_decoders_robosense SHARED
+    src/nebula_decoders_robosense/robosense_driver.cpp
+)
+target_link_libraries(nebula_decoders_robosense PUBLIC
+    ${robosense_msgs_TARGETS}
+)
+target_include_directories(nebula_decoders_robosense PUBLIC
+    ${robosense_msgs_INCLUDE_DIRS}
+)
 
-ament_auto_add_library(nebula_decoders_robosense_info SHARED
-        src/nebula_decoders_robosense/robosense_info_driver.cpp
-        )
+add_library(nebula_decoders_robosense_info SHARED
+    src/nebula_decoders_robosense/robosense_info_driver.cpp
+)
+target_link_libraries(nebula_decoders_robosense_info PUBLIC
+    ${robosense_msgs_TARGETS}
+)
+target_include_directories(nebula_decoders_robosense_info PUBLIC
+    ${robosense_msgs_INCLUDE_DIRS}
+)
 
 # Continental
-ament_auto_add_library(nebula_decoders_continental SHARED
-        src/nebula_decoders_continental/decoders/continental_ars548_decoder.cpp
-        )
+add_library(nebula_decoders_continental SHARED
+    src/nebula_decoders_continental/decoders/continental_ars548_decoder.cpp
+)
+target_link_libraries(nebula_decoders_continental PUBLIC
+    ${continental_msgs_TARGETS}
+    ${diagnostic_msgs_TARGETS}
+    ${boost_udp_driver_TARGETS}
+    ${nebula_common_TARGETS}
+    ${nebula_msgs_TARGETS}
+)
+target_include_directories(nebula_decoders_continental PUBLIC
+    ${continental_msgs_INCLUDE_DIRS}
+    ${diagnostic_msgs_INCLUDE_DIRS}
+    ${boost_udp_driver_INCLUDE_DIRS}
+    ${nebula_common_INCLUDE_DIRS}
+    ${nebula_msgs_INCLUDE_DIRS}
+)
+
+install(TARGETS nebula_decoders_hesai EXPORT export_nebula_decoders_hesai)
+install(TARGETS nebula_decoders_velodyne EXPORT export_nebula_decoders_velodyne)
+install(TARGETS nebula_decoders_robosense EXPORT export_nebula_decoders_robosense)
+install(TARGETS nebula_decoders_robosense_info EXPORT export_nebula_decoders_robosense_info)
+install(TARGETS nebula_decoders_continental EXPORT export_nebula_decoders_continental)
+install(DIRECTORY include/ DESTINATION include/${PROJECT_NAME})
 
 if(BUILD_TESTING)
     find_package(ament_lint_auto REQUIRED)
     ament_lint_auto_find_test_dependencies()
 endif()
 
-ament_auto_package(
-        INSTALL_TO_SHARE
-        calibration
-        )
+ament_export_include_directories("include/${PROJECT_NAME}")
+ament_export_targets(export_nebula_decoders_hesai)
+ament_export_targets(export_nebula_decoders_velodyne)
+ament_export_targets(export_nebula_decoders_robosense)
+ament_export_targets(export_nebula_decoders_robosense_info)
+ament_export_targets(export_nebula_decoders_continental)
+
+install(
+  DIRECTORY calibration
+  DESTINATION share/${PROJECT_NAME}
+)
+
+ament_export_dependencies(
+    PCL
+    pcl_conversions
+    angles
+    continental_msgs
+    diagnostic_msgs
+    nebula_common
+    nebula_msgs
+    pandar_msgs
+    rclcpp
+    robosense_msgs
+    sensor_msgs
+    velodyne_msgs
+    yaml-cpp
+)
+
+ament_package()
 
 # Set ROS_DISTRO macros
 set(ROS_DISTRO $ENV{ROS_DISTRO})

nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/robosense_info_driver.hpp

@@ -12,14 +12,14 @@
 #include "nebula_decoders/nebula_decoders_robosense/decoders/robosense_info_decoder.hpp"
 #include "nebula_decoders/nebula_decoders_robosense/decoders/robosense_info_decoder_base.hpp"
 
-#include "pandar_msgs/msg/pandar_packet.hpp"
-#include "pandar_msgs/msg/pandar_scan.hpp"
-
 #include <pcl_conversions/pcl_conversions.h>
 
 #include <iostream>
+#include <map>
+#include <memory>
 #include <stdexcept>
 #include <string>
+#include <vector>
 
 namespace nebula
 {

nebula_decoders/package.xml

@@ -20,7 +20,7 @@
   <depend>nebula_msgs</depend>
   <depend>pandar_msgs</depend>
   <depend>pcl_conversions</depend>
-  <depend>radar_msgs</depend>
+  <depend>rclcpp</depend>
   <depend>robosense_msgs</depend>
   <depend>sensor_msgs</depend>
   <depend>velodyne_msgs</depend>