Delete build.sh & merge ROS1/2 into one package

.gitignore

@@ -1,4 +1,3 @@
 .vscode
 build
-package.xml
 __pycache__

CMakeLists.txt

@@ -1,5 +1,5 @@
 # judge which cmake codes to use 
-if(ROS_EDITION STREQUAL "ROS1")
+if($ENV{ROS_VERSION} STREQUAL "1")
 
   # Copyright(c) 2019 livoxtech limited.
 
@@ -184,7 +184,7 @@ if(ROS_EDITION STREQUAL "ROS1")
   #---------------------------------------------------------------------------------------
 
 
-else(ROS_EDITION STREQUAL "ROS2")
+else($ENV{ROS_VERSION} STREQUAL "2")
 
   # Copyright(c) 2020 livoxtech limited.
 
@@ -282,14 +282,14 @@ else(ROS_EDITION STREQUAL "ROS2")
   target_include_directories(${PROJECT_NAME} PRIVATE ${livox_sdk_INCLUDE_DIRS})
 
   # get include directories of custom msg headers
-  if(HUMBLE_ROS STREQUAL "humble")
-    rosidl_get_typesupport_target(cpp_typesupport_target
-    ${LIVOX_INTERFACES} "rosidl_typesupport_cpp")
-    target_link_libraries(${PROJECT_NAME} "${cpp_typesupport_target}")
-  else()
+  if($ENV{ROS_DISTRO} STREQUAL "foxy")
     set(LIVOX_INTERFACE_TARGET "${LIVOX_INTERFACES}__rosidl_typesupport_cpp")
     add_dependencies(${PROJECT_NAME} ${LIVOX_INTERFACES})
     get_target_property(LIVOX_INTERFACES_INCLUDE_DIRECTORIES ${LIVOX_INTERFACE_TARGET} INTERFACE_INCLUDE_DIRECTORIES)
+  else()
+    rosidl_get_typesupport_target(cpp_typesupport_target
+    ${LIVOX_INTERFACES} "rosidl_typesupport_cpp")
+    target_link_libraries(${PROJECT_NAME} "${cpp_typesupport_target}")
   endif()
 
   # include file direcotry

README.md

@@ -56,22 +56,9 @@ git clone https://github.com/Livox-SDK/livox_ros_driver2.git ws_livox/src/livox_
 
 ### 2.3 Build the Livox ROS Driver 2:
 
-#### For ROS (take Noetic as an example):
-```shell
-source /opt/ros/noetic/setup.sh
-./build.sh ROS1
-```
-
-#### For ROS2 Foxy:
-```shell
-source /opt/ros/foxy/setup.sh
-./build.sh ROS2
-```
-
-#### For ROS2 Humble:
-```shell
-source /opt/ros/humble/setup.sh
-./build.sh humble
+```bash
+rosdep install --from-paths src --ignore-src -y
+colcon build --symlink-install
 ```
 
 ### 2.4 Run Livox ROS Driver 2:

package.xml

@@ -0,0 +1,45 @@
+<?xml version="1.0"?>
+<package format="3">
+    <name>livox_ros_driver2</name>
+    <version>1.0.0</version>
+    <description>The ROS device driver for Livox 3D LiDARs</description>
+    <maintainer email="[email protected]">feng</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>
+    <depend condition="$ROS_VERSION == 1">rospy</depend>
+    <depend condition="$ROS_VERSION == 1">message_generation</depend>
+    <exec_depend condition="$ROS_VERSION == 1">message_runtime</exec_depend>
+    <exec_depend condition="$ROS_VERSION == 1">rosbag</exec_depend>
+
+    <!-- ROS2 dependencies -->
+    <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake_auto</buildtool_depend>
+    <build_depend condition="$ROS_VERSION == 2">rosidl_default_generators</build_depend>
+    <member_of_group condition="$ROS_VERSION == 2">rosidl_interface_packages</member_of_group>
+    <depend condition="$ROS_VERSION == 2">rclcpp</depend>
+    <depend condition="$ROS_VERSION == 2">rclcpp_components</depend>
+    <depend condition="$ROS_VERSION == 2">rcl_interfaces</depend>
+    <depend condition="$ROS_VERSION == 2">rcutils</depend>
+    <exec_depend condition="$ROS_VERSION == 2">rosbag2</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="$ROS_VERSION == 2">ament_lint_common</test_depend>
+
+    <!-- ROS1/2 dependencies -->
+    <depend>std_msgs</depend>
+    <depend>sensor_msgs</depend>
+    <depend>pcl_conversions</depend>
+    <depend>pcl_ros</depend>
+    <depend>git</depend>
+    <depend>apr</depend>
+
+    <export>
+        <build_type condition="$ROS_VERSION == 2">ament_cmake</build_type>
+        <build_type condition="$ROS_VERSION == 1">catkin</build_type>
+    </export>
+</package>