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Also build composable version of topic-converter #45

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Also build composable version of topic-converter
MCFurry Jan 5, 2026
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No launch files here...
MCFurry Jan 5, 2026
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30 changes: 23 additions & 7 deletions cloudini_ros/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,7 @@ find_package(point_cloud_transport REQUIRED)
find_package(Draco QUIET)
find_package(pcl_conversions REQUIRED)
find_package(pcl_ros REQUIRED)
find_package(rclcpp_components REQUIRED)

set(PLUGIN_DEPS
pluginlib::pluginlib
Expand Down Expand Up @@ -58,23 +59,38 @@ install(

######### topic converter #########

add_executable(cloudini_topic_converter
add_library(cloudini_topic_converter_component SHARED
src/topic_converter.cpp
)
ament_target_dependencies(cloudini_topic_converter_component
SYSTEM
cloudini_lib
rclcpp_components
)

rclcpp_components_register_node(
cloudini_topic_converter_component
PLUGIN "CloudiniPointcloudConverter"
EXECUTABLE cloudini_topic_converter
)

target_include_directories(cloudini_topic_converter
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
)

target_link_libraries(cloudini_topic_converter
cloudini_ros
cloudini_lib::cloudini_lib
)

install(TARGETS cloudini_topic_converter
install(
TARGETS
cloudini_topic_converter_component
EXPORT export_cloudini_ros
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)

install(
TARGETS
cloudini_topic_converter
RUNTIME DESTINATION lib/cloudini_ros
)

Expand Down
1 change: 1 addition & 0 deletions cloudini_ros/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -25,6 +25,7 @@
<depend>mcap_vendor</depend>
<depend>sensor_msgs</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<depend>rosbag2_cpp</depend>
<depend>pcl_conversions</depend>
<depend>pcl_ros</depend>
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3 changes: 3 additions & 0 deletions cloudini_ros/src/topic_converter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,7 @@
#include <rclcpp/generic_publisher.hpp>
#include <rclcpp/generic_subscription.hpp>
#include <rclcpp/rclcpp.hpp>
#include <rclcpp_components/register_node_macro.hpp>
#include <rosidl_typesupport_cpp/message_type_support.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>

Expand Down Expand Up @@ -190,6 +191,8 @@ void CloudiniPointcloudConverter::callback(std::shared_ptr<rclcpp::SerializedMes
count++;
}

RCLCPP_COMPONENTS_REGISTER_NODE(CloudiniPointcloudConverter)

int main(int argc, char** argv) {
// Initialize ROS2 node
rclcpp::init(argc, argv);
Expand Down