@972032232 修改下Cmake即可
cmake_minimum_required(VERSION 3.5)
project(ros2pcl_test)
# Default to C99
if(NOT CMAKE_C_STANDARD)
set(CMAKE_C_STANDARD 99)
endif()
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(rclcpp REQUIRED)
find_package(PCL REQUIRED COMPONENTS common io)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# uncomment the line when a copyright and license is not present in all source files
#set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# uncomment the line when this package is not in a git repo
#set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})
add_executable(ros2pcl_test_sub
src/subscription_pcl.cpp
)
ament_target_dependencies(ros2pcl_test_sub
rclcpp
sensor_msgs
)
target_link_libraries(ros2pcl_test_sub ${PCL_LIBRARIES})
ament_package()
