Made some changes to allow switching between ament_python and ament_cmake_python.

Currently requires comment in and out parts of package.xml
Idea is that if you don't want the cpp package you could just use the python one without building using cmake

Author: jwag

elevation_mapping_cupy/README.md

@@ -32,7 +32,7 @@ Now launch the turtlebot3 in Gazebo with the following command:
 ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
 ``` 
 
-Launch the elevation mapping node with the configs for the turtle:
+Launch the elevation mapping node with the configs for the turtle. Set use_python_node to true to use it instead of the cpp node:
 ```bash
-ros2 launch elevation_mapping_cupy elevation_mapping_turtle.launch.py 
+ros2 launch elevation_mapping_cupy elevation_mapping_turtle.launch.py use_python_node:=false
 ```

elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping_node.py

@@ -0,0 +1 @@
+/workspaces/reo-ws/src/mapping/elevation_mapping_cupy/elevation_mapping_cupy/scripts/elevation_mapping_node.py

elevation_mapping_cupy/package.xml

@@ -6,11 +6,16 @@
     <maintainer email="[email protected]">Takahiro Miki</maintainer>
     <license>MIT</license>
 
+    <!-- Comment out these lines to build only with python -->
     <buildtool_depend>ament_cmake</buildtool_depend>
     <buildtool_depend>ament_cmake_python</buildtool_depend>
 
+    <!-- Comment in to build only with python -->
+    <!-- <buildtool_depend>ament_python</buildtool_depend> -->
+
     <!-- Core ROS2 dependencies -->
     <depend>rclpy</depend>
+    <!-- Comment out to build only with python -->
     <depend>rclcpp</depend>
     <depend>std_msgs</depend>
     <depend>std_srvs</depend>    
@@ -55,8 +60,10 @@
     <test_depend>ament_lint_common</test_depend>
 
     <export>
-        <!-- <build_type>ament_cmake_python</build_type> -->
+        <!-- Comment out to build only with python -->
         <build_type>ament_cmake</build_type>
+        <!-- Comment in to build only with python -->
+        <!-- <build_type>ament_python</build_type> -->
     </export>
 
 </package>

elevation_mapping_cupy/resource/elevation_mapping_cupy

@@ -19,10 +19,11 @@
     tests_require=['pytest'],
     entry_points={
         'console_scripts': [
-            'elevation_mapping_node = elevation_mapping_cupy.elevation_mapping_ros:main',
+            'elevation_mapping_node.py = elevation_mapping_cupy.elevation_mapping_node:main',
         ],
     },
     data_files=[
+        ('share/ament_index/resource_index/packages',['resource/' + package_name]),
         (os.path.join('share', package_name, 'launch'), glob('launch/*.launch.py')),
         *[(os.path.join('share', package_name, os.path.dirname(yaml_file)), [yaml_file]) for yaml_file in glob('config/**/*.yaml', recursive=True)],
         # also the .*dat files