Merge pull request #80 from ROBOTIS-GIT/feature-cmake-fix

Deprecate ament_include_dependency usage in CMakeLists.txt

Author: robotpilot

.github/workflows/ros-lint.yml

@@ -0,0 +1,32 @@
+# The name of the workflow
+name: Lint
+
+# Specifies the events that trigger the workflow
+on:
+  pull_request:
+
+# Defines a set of jobs to be run as part of the workflow
+jobs:
+  ament_lint:
+    runs-on: ubuntu-latest
+    container:
+      image: rostooling/setup-ros-docker:ubuntu-noble-ros-rolling-ros-base-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        linter: [cppcheck, cpplint, uncrustify, flake8, pep257, lint_cmake, xmllint]
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+
+      - name: Setup ROS environment
+        uses: ros-tooling/setup-ros@v0.7
+
+      - name: Run Linter
+        env:
+          AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS: 1
+        uses: ros-tooling/action-ros-lint@master
+        with:
+          linter: ${{ matrix.linter }}
+          distribution: rolling
+          package-name: "*"

CHANGELOG.rst

@@ -2,6 +2,11 @@
 Changelog for package hls_lfcd_lds_driver
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.1.1 (2025-05-28)
+------------------
+* Deprecate ament_include_dependency usage in CMakeLists.txt
+* Contributor: Hyungyu Kim
+
 2.1.0 (2025-02-25)
 ------------------
 * ROS 2 Humble Hawksbill supported

CMakeLists.txt

@@ -34,14 +34,15 @@ include_directories(
   ${Boost_INCLUDE_DIRS}
 )
 
-add_executable(hlds_laser_publisher	src/hlds_laser_publisher.cpp)
-target_link_libraries(hlds_laser_publisher ${Boost_LIBRARIES})
-ament_target_dependencies(hlds_laser_publisher
-  rclcpp
-  std_msgs
-  sensor_msgs
+add_executable(hlds_laser_publisher src/hlds_laser_publisher.cpp)
+target_link_libraries(hlds_laser_publisher
+  ${Boost_LIBRARIES}
+  ${sensor_msgs_TARGETS}
+  ${std_msgs_TARGETS}
+  rclcpp::rclcpp
 )
 
+
 ################################################################################
 # Install
 ################################################################################
@@ -57,8 +58,10 @@ install(
 ################################################################################
 # Macro for ament package
 ################################################################################
-ament_export_dependencies(rclcpp)
-ament_export_dependencies(std_msgs)
-ament_export_dependencies(sensor_msgs)
+ament_export_dependencies(
+  rclcpp
+  std_msgs
+  sensor_msgs
+)
 ament_export_include_directories(include)
 ament_package()

LICENSE

@@ -1,30 +1,25 @@
-BSD 3-Clause License
-
-Copyright (c) 2016, Hitachi-LG Data Storage
-Copyright (c) 2017, ROBOTIS
-All rights reserved.
-
 Redistribution and use in source and binary forms, with or without
 modification, are permitted provided that the following conditions are met:
 
-* Redistributions of source code must retain the above copyright notice, this
-  list of conditions and the following disclaimer.
+   * Redistributions of source code must retain the above copyright
+     notice, this list of conditions and the following disclaimer.
 
-* Redistributions in binary form must reproduce the above copyright notice,
-  this list of conditions and the following disclaimer in the documentation
-  and/or other materials provided with the distribution.
+   * Redistributions in binary form must reproduce the above copyright
+     notice, this list of conditions and the following disclaimer in the
+     documentation and/or other materials provided with the distribution.
 
-* Neither the name of the copyright holder nor the names of its
-  contributors may be used to endorse or promote products derived from
-  this software without specific prior written permission.
+   * Neither the name of the copyright holder nor the names of its
+     contributors may be used to endorse or promote products derived from
+     this software without specific prior written permission.
 
 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
-DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
-FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.

applications/lds_driver/lds_driver.cpp

@@ -1,43 +1,45 @@
-/*******************************************************************************
-* Copyright (c) 2016, Hitachi-LG Data Storage
-* Copyright (c) 2017, ROBOTIS
-* All rights reserved.
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-* * Redistributions of source code must retain the above copyright notice, this
-*   list of conditions and the following disclaimer.
-*
-* * Redistributions in binary form must reproduce the above copyright notice,
-*   this list of conditions and the following disclaimer in the documentation
-*   and/or other materials provided with the distribution.
-*
-* * Neither the name of the copyright holder nor the names of its
-*   contributors may be used to endorse or promote products derived from
-*   this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
-* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-*******************************************************************************/
-
- /* Authors: SP Kong, JH Yang, Pyo */
- /* maintainer: Pyo */
-
-#include "lds_driver.h"
+// Copyright (c) 2016, Hitachi-LG Data Storage
+// Copyright (c) 2017, ROBOTIS
+//
+// Use of this source code is governed by a BSD-style
+// license that can be found in the LICENSE file or at
+// https://developers.google.com/open-source/licenses/bsd
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in the
+//      documentation and/or other materials provided with the distribution.
+//
+//    * Neither the name of the {copyright_holder} nor the names of its
+//      contributors may be used to endorse or promote products derived from
+//      this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+
+/* Authors: SP Kong, JH Yang, Pyo */
+/* maintainer: Pyo */
+
+#include "../applications/lds_driver/lds_driver.hpp"
 
 namespace lds
 {
-LFCDLaser::LFCDLaser(const std::string& port, uint32_t baud_rate, boost::asio::io_service& io)
-  : port_(port), baud_rate_(baud_rate), shutting_down_(false), serial_(io, port_)
+LFCDLaser::LFCDLaser(const std::string & port, uint32_t baud_rate, boost::asio::io_service & io)
+: port_(port), baud_rate_(baud_rate), shutting_down_(false), serial_(io, port_)
 {
   serial_.set_option(boost::asio::serial_port_base::baud_rate(baud_rate_));
 
@@ -58,31 +60,25 @@ void LFCDLaser::poll()
   boost::array<uint8_t, 2520> raw_bytes;
   uint8_t good_sets = 0;
   uint32_t motor_speed = 0;
-  rpms=0;
+  rpms = 0;
   int index;
 
-  while (!shutting_down_ && !got_scan)
-  {
+  while (!shutting_down_ && !got_scan) {
     // Wait until first data sync of frame: 0xFA, 0xA0
-    boost::asio::read(serial_, boost::asio::buffer(&raw_bytes[start_count],1));
+    boost::asio::read(serial_, boost::asio::buffer(&raw_bytes[start_count], 1));
 
-    if(start_count == 0)
-    {
-      if(raw_bytes[start_count] == 0xFA)
-      {
+    if (start_count == 0) {
+      if (raw_bytes[start_count] == 0xFA) {
         start_count = 1;
       }
-    }
-    else if(start_count == 1)
-    {
-      if(raw_bytes[start_count] == 0xA0)
-      {
+    } else if (start_count == 1) {
+      if (raw_bytes[start_count] == 0xA0) {
         start_count = 0;
 
         // Now that entire start sequence has been found, read in the rest of the message
         got_scan = true;
 
-        boost::asio::read(serial_,boost::asio::buffer(&raw_bytes[2], 2518));
+        boost::asio::read(serial_, boost::asio::buffer(&raw_bytes[2], 2518));
 
         // scan->angle_min = 0.0;
         // scan->angle_max = 2.0*M_PI;
@@ -92,51 +88,48 @@ void LFCDLaser::poll()
         // scan->ranges.resize(360);
         // scan->intensities.resize(360);
 
-        //read data in sets of 6
-        for(uint16_t i = 0; i < raw_bytes.size(); i=i+42)
-        {
-          if(raw_bytes[i] == 0xFA && raw_bytes[i+1] == (0xA0 + i / 42)) //&& CRC check
-          {
+        // read data in sets of 6
+
+        for (uint16_t i = 0; i < raw_bytes.size(); i = i + 42) {
+          if (raw_bytes[i] == 0xFA && raw_bytes[i + 1] == (0xA0 + i / 42)) {
             good_sets++;
-            motor_speed += (raw_bytes[i+3] << 8) + raw_bytes[i+2]; //accumulate count for avg. time increment
-            rpms=(raw_bytes[i+3]<<8|raw_bytes[i+2])/10;
+            motor_speed += (raw_bytes[i + 3] << 8) + raw_bytes[i + 2];
+            rpms = (raw_bytes[i + 3] << 8 | raw_bytes[i + 2]) / 10;
 
-            for(uint16_t j = i+4; j < i+40; j=j+6)
-            {
-              index = 6*(i/42) + (j-4-i)/6;
+            for (uint16_t j = i + 4; j < i + 40; j = j + 6) {
+              index = 6 * (i / 42) + (j - 4 - i) / 6;
 
               // Four bytes per reading
               uint8_t byte0 = raw_bytes[j];
-              uint8_t byte1 = raw_bytes[j+1];
-              uint8_t byte2 = raw_bytes[j+2];
-              uint8_t byte3 = raw_bytes[j+3];
+              uint8_t byte1 = raw_bytes[j + 1];
+              uint8_t byte2 = raw_bytes[j + 2];
+              uint8_t byte3 = raw_bytes[j + 3];
 
               // Remaining bits are the range in mm
               uint16_t intensity = (byte1 << 8) + byte0;
 
-              // Last two bytes represent the uncertanty or intensity, might also be pixel area of target...
+              // Last two bytes represent the uncertanty or intensity,
+              // might also be pixel area of target...
               // uint16_t intensity = (byte3 << 8) + byte2;
               uint16_t range = (byte3 << 8) + byte2;
 
               // scan->ranges[359-index] = range / 1000.0;
               // scan->intensities[359-index] = intensity;
-              printf ("r[%d]=%f,",359-index, range / 1000.0);
+              printf("r[%d]=%f,", 359 - index, range / 1000.0);
             }
           }
         }
 
         // scan->time_increment = motor_speed/good_sets/1e8;
-      }
-      else
-      {
+      } else {
         start_count = 0;
       }
     }
   }
 }
-}
+}  // namespace lds
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   std::string port;
   int baud_rate;
@@ -145,20 +138,16 @@ int main(int argc, char **argv)
   baud_rate = 230400;
   boost::asio::io_service io;
 
-  try
-  {
+  try {
     lds::LFCDLaser laser(port, baud_rate, io);
 
-    while (1)
-    {
+    while (1) {
       laser.poll();
     }
     laser.close();
 
     return 0;
-  }
-  catch (boost::system::system_error ex)
-  {
+  } catch (boost::system::system_error ex) {
     printf("An exception was thrown: %s", ex.what());
     return -1;
   }