optimize build system and handle cv_bridge header compatibility for different ROS2 distributions

Author: sujit-168

CMakeLists.txt

@@ -96,6 +96,7 @@ find_package(PCL REQUIRED)
 find_package(OpenCV REQUIRED)
 find_package(Sophus REQUIRED)
 find_package(Boost REQUIRED COMPONENTS thread)
+find_package(fmt REQUIRED)
 
 # Include directories for dependencies
 include_directories(
@@ -125,7 +126,7 @@ set(dependencies
   livox_ros_driver2
 )
 
-set(COMMON_DEPENDENCIES OpenMP::OpenMP_CXX)
+set(COMMON_DEPENDENCIES OpenMP::OpenMP_CXX fmt::fmt)
 
 # link_directories(${COMMON_DEPENDENCIES}
 #   ${vikit_common_LIBRARIES}/libvikit_common.so

include/LIVMapper.h

@@ -16,7 +16,11 @@ which is included as part of this source code package.
 #include "IMU_Processing.h"
 #include "vio.h"
 #include "preprocess.h"
+#if __has_include(<cv_bridge/cv_bridge.hpp>)
+#include <cv_bridge/cv_bridge.hpp>
+#else
 #include <cv_bridge/cv_bridge.h>
+#endif
 #include <image_transport/image_transport.hpp>
 #include <tf2_ros/transform_broadcaster.h>
 #include <geometry_msgs/msg/transform_stamped.hpp>

package.xml

@@ -34,6 +34,9 @@
   <build_depend>cv_bridge</build_depend>
   <build_depend>image_transport</build_depend>
   <build_depend>libopencv-dev</build_depend>
+  <build_depend>sophus</build_depend>
+  <build_depend>eigen</build_depend>
+  <build_depend>fmt</build_depend>
 
   <exec_depend>cv_bridge</exec_depend>
   <exec_depend>image_transport</exec_depend>