feat: support ros2 build

Signed-off-by: wep21 <daisuke.nishimatsu1021@gmail.com>

CMakeLists.txt

@@ -1,20 +1,61 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(mcl_3dl_msgs)
 
-set(MESSAGE_DEPENDS
-  std_msgs
-)
-
-find_package(catkin REQUIRED COMPONENTS message_generation ${MESSAGE_DEPENDS})
-
-add_service_files(
-  FILES
-    ResizeParticle.srv
-    LoadPCD.srv
-)
-add_message_files(
-  FILES
-    Status.msg
-)
-generate_messages(DEPENDENCIES ${MESSAGE_DEPENDS})
-catkin_package(CATKIN_DEPENDS message_runtime ${MESSAGE_DEPENDS})
+find_package(ros_environment REQUIRED)
+
+set(ROS_VERSION $ENV{ROS_VERSION})
+
+if(${ROS_VERSION} EQUAL 1)
+
+  set(MESSAGE_DEPENDS
+    std_msgs
+  )
+
+  find_package(catkin REQUIRED COMPONENTS message_generation ${MESSAGE_DEPENDS})
+
+  add_service_files(
+    FILES
+      ResizeParticle.srv
+      LoadPCD.srv
+  )
+  add_message_files(
+    FILES
+      Status.msg
+  )
+  generate_messages(DEPENDENCIES ${MESSAGE_DEPENDS})
+  catkin_package(CATKIN_DEPENDS message_runtime ${MESSAGE_DEPENDS})
+
+elseif(${ROS_VERSION} EQUAL 2)
+
+  if(NOT CMAKE_CXX_STANDARD)
+    set(CMAKE_CXX_STANDARD_REQUIRED ON)
+    set(CMAKE_CXX_STANDARD 17)
+  endif()
+
+  if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    add_compile_options(-Wall -Wextra -Wpedantic)
+  endif()
+
+  find_package(ament_cmake REQUIRED)
+  find_package(builtin_interfaces REQUIRED)
+  find_package(std_msgs REQUIRED)
+  find_package(rosidl_default_generators REQUIRED)
+
+  rosidl_generate_interfaces(${PROJECT_NAME}
+    msg/Status.msg
+    srv/LoadPCD.srv
+    srv/ResizeParticle.srv
+    DEPENDENCIES std_msgs
+    ADD_LINTER_TESTS
+  )
+
+  ament_export_dependencies(rosidl_default_runtime)
+
+  if(BUILD_TESTING)
+    find_package(ament_lint_auto REQUIRED)
+    ament_lint_auto_find_test_dependencies()
+  endif()
+
+  ament_package()
+
+endif()

package.xml

@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<package format="2">
+<package format="3">
   <name>mcl_3dl_msgs</name>
   <version>0.6.0</version>
   <description>The mcl_3dl message definition package</description>
@@ -8,11 +8,25 @@
   <license>BSD</license>
   <author email="atsushi.w@ieee.org">Atsushi Watanabe</author>
 
-  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 2">catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
 
-  <build_depend>message_generation</build_depend>
-  <build_export_depend>message_runtime</build_export_depend>
-  <exec_depend>message_runtime</exec_depend>
+  <build_depend condition="$ROS_VERSION == 1">message_generation</build_depend>
+  <build_depend condition="$ROS_VERSION == 2">rosidl_default_generators</build_depend>
+  <build_depend>ros_environment</build_depend>
 
   <depend>std_msgs</depend>
+
+  <exec_depend condition="$ROS_VERSION == 1">message_runtime</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">rosidl_default_runtime</exec_depend>
+
+  <test_depend condition="$ROS_VERSION == 2">ament_lint_auto</test_depend>
+  <test_depend condition="$ROS_VERSION == 2">ament_lint_common</test_depend>
+
+  <member_of_group condition="$ROS_VERSION == 2">rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type condition="$ROS_VERSION == 1">catkin</build_type>
+    <build_type condition="$ROS_VERSION == 2">ament_cmake</build_type>
+  </export>
 </package>