From c65a0df4654155c61efe4c58c32ddd87454a4ba3 Mon Sep 17 00:00:00 2001
From: Alireza Moayyedi <alireza.moayyedi@nobleo.nl>
Date: Thu, 12 Feb 2026 19:19:37 +0100
Subject: [PATCH] Fixed cmake issues and added some improvements

---
 cloudini_lib/CMakeLists.txt      | 36 ++++++++------------------------
 cloudini_lib/package.xml         |  5 +++--
 cloudini_lib/test/CMakeLists.txt |  2 +-
 cloudini_ros/CMakeLists.txt      | 28 +++++++++++++++----------
 4 files changed, 30 insertions(+), 41 deletions(-)

diff --git a/cloudini_lib/CMakeLists.txt b/cloudini_lib/CMakeLists.txt
index 0b56f70..d750314 100644
--- a/cloudini_lib/CMakeLists.txt
+++ b/cloudini_lib/CMakeLists.txt
@@ -50,21 +50,14 @@ target_include_directories(data_path INTERFACE ${CMAKE_BINARY_DIR}/include)
 
 ##################################################################################
 
-if(ament_cmake_FOUND)
-  message(STATUS "PCL found using ament_cmake")
-  find_package(pcl_ros REQUIRED)
-  set(PCL_SRC src/pcl_conversion.cpp)
+find_package(PCL COMPONENTS common io QUIET)
 
+if(PCL_FOUND)
+  message(STATUS "PCL found in system")
+  add_definitions(${PCL_DEFINITIONS})
+  set(PCL_SRC src/pcl_conversion.cpp)
 else()
-  find_package(PCL QUIET)
-  if(PCL_FOUND)
-    message(STATUS "PCL found in system")
-    add_definitions(${PCL_DEFINITIONS})
-    link_directories(${PCL_LIBRARY_DIRS})
-    set(PCL_SRC src/pcl_conversion.cpp)
-  else()
-    message(STATUS "PCL NOT found")
-  endif()
+  message(STATUS "PCL NOT found")
 endif()
 
 ##################################################################################
@@ -112,22 +105,13 @@ target_include_directories(cloudini_lib
     $<INSTALL_INTERFACE:include>
 )
 
-if(ament_cmake_FOUND)
-  find_package(pcl_ros REQUIRED)
-  target_link_libraries(cloudini_lib PUBLIC ${pcl_ros_TARGETS})
-else()
-  if(PCL_FOUND)
-    target_include_directories(cloudini_lib PUBLIC ${PCL_INCLUDE_DIRS})
-    target_link_libraries(cloudini_lib PUBLIC ${PCL_LIBRARIES})
-  endif()
-endif()
-
 target_link_libraries(cloudini_lib
   PRIVATE
     $<BUILD_INTERFACE:LZ4::lz4_static>
     $<BUILD_INTERFACE:zstd::libzstd_static>
   PUBLIC
-    ${PCL_LIBRARIES}
+    ${PCL_COMMON_LIBRARIES}
+    ${PCL_IO_LIBRARIES}
 )
 
 if(NOT EMSCRIPTEN)
@@ -211,8 +195,6 @@ INSTALL( DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/include/
 
 if(ament_cmake_FOUND)
   ament_export_targets(cloudini_libTargets HAS_LIBRARY_TARGET)
-  ament_export_libraries(cloudini_lib)
-  ament_export_dependencies(pcl_ros)
-  ament_export_include_directories(include)
+  ament_export_dependencies(PCL)
   ament_package()
 endif()
diff --git a/cloudini_lib/package.xml b/cloudini_lib/package.xml
index 8bb95f3..0eb71ce 100644
--- a/cloudini_lib/package.xml
+++ b/cloudini_lib/package.xml
@@ -14,10 +14,11 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <depend>lz4</depend>
+  <depend>libpcl-common</depend>
+  <depend>libpcl-io</depend>
   <depend>libzstd-dev</depend>
+  <depend>lz4</depend>
   <depend>mcap_vendor</depend>
-  <depend>pcl_ros</depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
 
diff --git a/cloudini_lib/test/CMakeLists.txt b/cloudini_lib/test/CMakeLists.txt
index f8253ac..5420643 100644
--- a/cloudini_lib/test/CMakeLists.txt
+++ b/cloudini_lib/test/CMakeLists.txt
@@ -32,7 +32,7 @@ else()
       GTest::gtest_main)
 
     if(PCL_FOUND)
-      target_link_libraries(test_cloudini ${PCL_LIBRARIES} )
+      target_link_libraries(test_cloudini ${PCL_COMMON_LIBRARIES} ${PCL_IO_LIBRARIES})
     endif()
 
 endif()
diff --git a/cloudini_ros/CMakeLists.txt b/cloudini_ros/CMakeLists.txt
index 6ab2a94..afa7b30 100644
--- a/cloudini_ros/CMakeLists.txt
+++ b/cloudini_ros/CMakeLists.txt
@@ -12,8 +12,8 @@ find_package(pluginlib REQUIRED)
 find_package(point_cloud_interfaces REQUIRED)
 find_package(point_cloud_transport REQUIRED)
 find_package(Draco QUIET)
+find_package(PCL COMPONENTS common REQUIRED)
 find_package(pcl_conversions REQUIRED)
-find_package(pcl_ros REQUIRED)
 
 set(PLUGIN_DEPS
   pluginlib::pluginlib
@@ -36,16 +36,16 @@ target_include_directories(cloudini_ros
   PUBLIC
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
     $<INSTALL_INTERFACE:include>
-    ${PCL_INCLUDE_DIRS}
 )
 
 target_link_libraries(cloudini_ros
   PUBLIC
     ${PLUGIN_DEPS}
-    ${PCL_LIBRARIES}
+    ${PCL_COMMON_LIBRARIES}
 )
 
 install(TARGETS cloudini_ros
+  EXPORT export_${PROJECT_NAME}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION lib/cloudini_ros
@@ -104,7 +104,7 @@ add_executable(test_cloudini_subscriber test/test_cloudini_subscriber.cpp)
 
 target_link_libraries(test_cloudini_subscriber
   cloudini_ros
-  ${PCL_LIBRARIES}
+  ${PCL_COMMON_LIBRARIES}
 )
 
 target_include_directories(test_cloudini_subscriber
@@ -123,15 +123,13 @@ add_executable(test_plugin_subscriber test/test_plugin_subscriber.cpp)
 
 target_link_libraries(test_plugin_subscriber
   cloudini_ros
-  ${PCL_LIBRARIES}
+  ${PCL_COMMON_LIBRARIES}
   ${point_cloud_interfaces_TARGETS}
-  ${pcl_conversions_TARGETS}
   point_cloud_transport::point_cloud_transport
 )
 
 target_include_directories(test_plugin_subscriber
   PRIVATE
-    ${PCL_INCLUDE_DIRS}
     ${pcl_conversions_INCLUDE_DIRS}
 )
 
@@ -178,6 +176,7 @@ target_include_directories(${PLUGIN_NAME} PRIVATE
 )
 
 install(TARGETS ${PLUGIN_NAME}
+  EXPORT export_${PROJECT_NAME}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION lib/${PLUGIN_NAME}
@@ -188,10 +187,17 @@ install(
   DESTINATION include/${PLUGIN_NAME}
 )
 
-
 pluginlib_export_plugin_description_file(point_cloud_transport cloudini_plugins.xml)
 
-ament_export_include_directories(include)
-ament_export_libraries(cloudini_ros ${PLUGIN_NAME})
-ament_export_dependencies(${PLUGIN_DEPS})
+ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
+ament_export_dependencies(
+  pluginlib
+  rosbag2_cpp
+  point_cloud_transport
+  rclcpp
+  cloudini_lib
+  sensor_msgs
+  point_cloud_interfaces
+  PCL
+)
 ament_package()