lorenwel · lorenwel · Mar 7, 2023 · Mar 7, 2023
diff --git a/README.md b/README.md
@@ -20,7 +20,6 @@ The library can be compiled separately from the ROS interface if you're not usin
 
 Requires the following dependencies to be installed:
 
-- *catkin_simple* `https://github.com/catkin/catkin_simple.git` 
 - *eigen_conversions* `sudo apt install ros-noetic-eigen-conversions`
 
 Compile using your favorite catkin build tool (e.g. `catkin build linefit_ground_segmentation_ros`)

diff --git a/linefit_ground_segmentation/CMakeLists.txt b/linefit_ground_segmentation/CMakeLists.txt
@@ -1,26 +1,58 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(linefit_ground_segmentation)
 
-find_package(catkin_simple 0.1.0 REQUIRED )
+find_package(catkin)
 
-catkin_simple(ALL_DEPS_REQUIRED)
+find_package(PCL REQUIRED)
+
+find_package(Eigen3 REQUIRED)
 
-add_definitions(-std=c++14)
+IF(catkin_FOUND)
+
+    catkin_package(
+        INCLUDE_DIRS include ${EIGEN3_INCLUDE_DIR}
+        LIBRARIES ${PROJECT_NAME}
+        DEPENDS PCL
+    )
+
+ENDIF()
+
+include_directories(
+    include
+    ${EIGEN3_INCLUDE_DIR}
+    ${PCL_INCLUDE_DIRS}
+)
+
+add_library(${PROJECT_NAME} SHARED
+    src/ground_segmentation.cc
+    src/segment.cc
+    src/bin.cc
+    src/viewer.cc
+)
+
+target_link_libraries(${PROJECT_NAME} ${PCL_LIBRARIES})
+
+target_compile_features(${PROJECT_NAME} PUBLIC cxx_std_14)
 
-find_package(PCL REQUIRED)
-include_directories(${PCL_INCLUDE_DIRS})
-link_directories(${PCL_LIBRARY_DIRS})
 add_definitions(${PCL_DEFINITIONS})
 
-find_package(Eigen3 REQUIRED)
-include_directories(${Eigen_INCLUDE_DIRS})
 
-cs_add_library(${PROJECT_NAME} src/ground_segmentation.cc src/segment.cc src/bin.cc src/viewer.cc)
+IF(catkin_FOUND)
+
+    install(TARGETS ${PROJECT_NAME}
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+    )
+
+    install(DIRECTORY include/
+        DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}
+        FILES_MATCHING PATTERN "*.h"
+        PATTERN ".svn" EXCLUDE
+    )
 
-#add_doxygen(NOT_AUTOMATIC)
+ENDIF()
 
-cs_install()
-cs_export()
 
 #############
 # QTCREATOR #

diff --git a/linefit_ground_segmentation/package.xml b/linefit_ground_segmentation/package.xml
@@ -9,7 +9,6 @@
   <license>BSD</license>
 
   <buildtool_depend>catkin</buildtool_depend>
-  <buildtool_depend>catkin_simple</buildtool_depend>
 
 </package>
 
diff --git a/linefit_ground_segmentation_ros/CMakeLists.txt b/linefit_ground_segmentation_ros/CMakeLists.txt
@@ -1,26 +1,50 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(linefit_ground_segmentation_ros)
 
-find_package(catkin_simple 0.1.0 REQUIRED )
-
-catkin_simple(ALL_DEPS_REQUIRED)
-
-add_definitions(-std=c++14)
-
-find_package(PCL REQUIRED)
-include_directories(${PCL_INCLUDE_DIRS})
-link_directories(${PCL_LIBRARY_DIRS})
-add_definitions(${PCL_DEFINITIONS})
+find_package(catkin REQUIRED
+    eigen_conversions
+    linefit_ground_segmentation
+    pcl_conversions
+    pcl_ros
+    roscpp
+    tf2_ros
+)
+
+catkin_package(
+    CATKIN_DEPENDS
+        eigen_conversions
+        linefit_ground_segmentation
+        pcl_conversions
+        pcl_ros
+        roscpp
+        tf2_ros
+)
+message(catkin_INCLUDE_DIRS="${catkin_INCLUDE_DIRS}")
+
+include_directories(
+    ${catkin_INCLUDE_DIRS}
+)
 
 add_executable(ground_segmentation_node src/ground_segmentation_node.cc)
 add_executable(ground_segmentation_test_node src/ground_segmentation_test_node.cc)
-target_link_libraries(ground_segmentation_node ${catkin_LIBRARIES} ${PCL_LIBRARIES})
-target_link_libraries(ground_segmentation_test_node ${catkin_LIBRARIES} ${PCL_LIBRARIES})
+target_link_libraries(ground_segmentation_node ${catkin_LIBRARIES})
+target_link_libraries(ground_segmentation_test_node ${catkin_LIBRARIES})
+target_compile_features(ground_segmentation_node PRIVATE cxx_std_14)
+target_compile_features(ground_segmentation_test_node PRIVATE cxx_std_14)
 
 #add_doxygen(NOT_AUTOMATIC)
 
-cs_install()
-cs_export()
+install(TARGETS ground_segmentation_node ground_segmentation_test_node
+    RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(
+    FILES
+        launch/segmentation.launch
+        launch/test.launch
+        launch/segmentation_params.yaml
+    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
 
 #############
 # QTCREATOR #

diff --git a/linefit_ground_segmentation_ros/package.xml b/linefit_ground_segmentation_ros/package.xml
@@ -9,13 +9,13 @@
   <license>BSD</license>
 
   <buildtool_depend>catkin</buildtool_depend>
-  <buildtool_depend>catkin_simple</buildtool_depend>
 
   <depend>eigen_conversions</depend>
-  <depend>roscpp</depend>  
-  <depend>tf2_ros</depend>
-
   <depend>linefit_ground_segmentation</depend>
+  <depend>roscpp</depend>
+  <depend>pcl_conversions</depend>  
+  <depend>pcl_ros</depend>
+  <depend>tf2_ros</depend>
 
 </package>
 
diff --git a/linefit_ground_segmentation_ros/src/ground_segmentation_node.cc b/linefit_ground_segmentation_ros/src/ground_segmentation_node.cc
@@ -1,7 +1,6 @@
 #include <eigen_conversions/eigen_msg.h>
 #include <ros/ros.h>
 #include <pcl/common/transforms.h>
-#include <pcl/io/ply_io.h>
 #include <pcl_conversions/pcl_conversions.h>
 #include <pcl_ros/point_cloud.h>
 #include <tf2_ros/transform_listener.h>