Pure CMake Build

[ben-greenberg]

I have converted this package to use pure CMake to enable cross compatibility between ROS1 and ROS2. The core functionality works but the tests have not yet been implemented. Against which branch should I open a PR to share this work with the community?

[keshavchintamani]

@ben-greenberg any updates on this issue. I'd be happy to contribute to this initiative. Would be ideal if we could create a ros2-devel branch here

[schornakj]

In my opinion the cleanest approach would be to make the main branch of this repo ROS-independent, since there isn't anything here that depends on ROS-specific functionality. There are a handful of fixes needed to build on Focal but I think they're already implemented in this branch (edit: which, upon further investigation, has already been merged into kinetic-devel).

One option would be to merge the changes that @ben-greenberg and I have implemented into kinetic-devel and not worry about having feature-specific branches. Or, a maintainer could create a new devel branch and the changes could be merged in there.

Who is maintaining this package currently? Does the strategy I've described sound OK to you?

[Rayman]

This would be nice, because it would allow for a very smooth migration to ROS2. A plain cmake package could work in both distros. For an example, see this abb driver where they have taken that approach.