More robust detection of ROS 1 vs ROS 2 (PRBonn#107)

* add .vscode to ignore files * FIX: Allow using colcon to build for ROS 1 * Add ros_environment dependency to expose ROS_VERSION env var in build farms --------- Co-authored-by: Ignacio Vizzo <[email protected]>
fratopa · Mar 29, 2023 · ea91033 · ea91033
1 parent 99ac940
commit ea91033
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Showing 3 changed files with 8 additions and 2 deletions.
diff --git a/.gitignore b/.gitignore
@@ -363,3 +363,6 @@ cython_debug/
 
 # End of https://www.toptal.com/developers/gitignore/api/python
 nn
+
+# VSCode
+.vscode
diff --git a/ros/CMakeLists.txt b/ros/CMakeLists.txt
@@ -40,7 +40,7 @@ else()
   FetchContent_MakeAvailable(ext_kiss_icp_core)
 endif()
 
-if(CATKIN_DEVEL_PREFIX OR catkin_FOUND OR CATKIN_BUILD_BINARY_PACKAGE)
+if("$ENV{ROS_VERSION}" STREQUAL "1")
   message(STATUS "KISS-ICP-ROS1 wrapper will be compiled")
   find_package(
     catkin REQUIRED
@@ -60,7 +60,7 @@ if(CATKIN_DEVEL_PREFIX OR catkin_FOUND OR CATKIN_BUILD_BINARY_PACKAGE)
   target_link_libraries(odometry_node kiss_icp::pipeline ${catkin_LIBRARIES})
   install(TARGETS odometry_node RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
   install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
-elseif(DEFINED ENV{AMENT_PREFIX_PATH})
+elseif("$ENV{ROS_VERSION}" STREQUAL "2")
   message(STATUS "KISS-ICP-ROS2 wrapper will be compiled")
 
   find_package(ament_cmake REQUIRED)

diff --git a/ros/package.xml b/ros/package.xml
@@ -30,6 +30,9 @@
   <maintainer email="[email protected]">ivizzo</maintainer>
   <license>MIT</license>
 
+  <!-- Common ROS 1 / ROS 2 dependencies -->
+  <build_depend>ros_environment</build_depend>
+
   <!-- ROS1 dependencies -->
   <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
   <depend condition="$ROS_VERSION == 1">roscpp</depend>
-Original file line number
+Diff line change
@@ Expand Up / @@ -363,3 +363,6 @@ cython_debug/ @@
     # End of https://www.toptal.com/developers/gitignore/api/python
     nn
+    # VSCode
+    .vscode