new camera calibraction

src/camera_calibration/CMakeLists.txt

@@ -0,0 +1,81 @@
+cmake_minimum_required(VERSION 3.8)
+project(camera_calibration)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# Find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_components REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(image_transport REQUIRED)
+find_package(cv_bridge REQUIRED)
+find_package(OpenCV REQUIRED)
+find_package(Eigen3 REQUIRED)
+find_package(rm_interfaces REQUIRED)
+
+include_directories(
+  include
+  ${OpenCV_INCLUDE_DIRS}
+  ${EIGEN3_INCLUDE_DIRS}
+)
+
+# Node library
+add_library(camera_calibration_lib SHARED
+  src/calibration_node.cpp
+)
+
+ament_target_dependencies(camera_calibration_lib
+  rclcpp
+  std_msgs
+  sensor_msgs
+  image_transport
+  cv_bridge
+  OpenCV
+  Eigen3
+  rm_interfaces
+)
+
+# Component library for component container
+rclcpp_components_register_node(camera_calibration_lib
+  PLUGIN "camera_calibration::CalibrationNode"
+  EXECUTABLE camera_calibration_node
+)
+
+install(TARGETS camera_calibration_lib
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION lib
+)
+
+install(DIRECTORY include/
+  DESTINATION include
+)
+
+install(DIRECTORY launch/
+  DESTINATION share/${PROJECT_NAME}/launch
+)
+
+install(DIRECTORY config/
+  DESTINATION share/${PROJECT_NAME}/config
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_export_dependencies(
+  rclcpp
+  std_msgs
+  sensor_msgs
+  image_transport
+  cv_bridge
+  OpenCV
+  Eigen3
+)
+
+ament_package()