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Overview
In ROS 2, it is recommended that we write a node like a nodelet of ROS 1. Please refer to https://docs.ros.org/en/jazzy/Concepts/Intermediate/About-Composition.html .
I am ready to commit necessary changes for this suggestion.
Target branch
eloquent-devel
Note
We need to add one line to the top-level CMakeLists.txt of iris_lama to build the package.
# install location of generated cmake config files
set(ConfigPackageLocation ${CMAKE_INSTALL_LIBDIR}/${CMAKE_PROJECT_NAME}/cmake)
# dependencies
find_package(Eigen3 3.3 REQUIRED NO_MODULE)
# ##
set(CMAKE_POSITION_INDEPENDENT_CODE ON) # We need to add this !
# ##
# the code
add_subdirectory(src)
# header files, note the "/" after include
install(DIRECTORY include/
DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})Metadata
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