Use add-compile-definitions and more build refinements (#522)

Author: Samahu

CHANGELOG.rst

@@ -4,7 +4,8 @@ Changelog
 
 [UNRELEASED]
 ============
-* [BUGFIX]: Add the missing ament_cmake_gtest to the dependencies.
+* [BUGFIX]: Add the missing ``ament_cmake_gtest`` to the dependencies.
+* Use ``add_compile_definitions`` instead of ``add_definitions`` to set the ``EIGEN_MPL2_ONLY`` flag.
 
 ouster_ros v0.14.0
 ==================

ouster-ros/CMakeLists.txt

@@ -40,8 +40,9 @@ option(CMAKE_POSITION_INDEPENDENT_CODE "Build position independent code." ON)
 set(_ouster_ros_INCLUDE_DIRS
   include
   ouster-sdk/ouster_sensor/include
-  ouster-sdk/ouster_client/include/optional-lite
+  ouster-sdk/ouster_client/include
   ouster-sdk/ouster_pcap/include
+  ouster-sdk/ouster_client/include/optional-lite
 )
 
 # ==== Libraries ====
@@ -62,7 +63,7 @@ include_directories(
   ${OpenCV_INCLUDE_DIRS})
 
 # use only MPL-licensed parts of eigen
-add_definitions(-DEIGEN_MPL2_ONLY)
+add_compile_definitions(EIGEN_MPL2_ONLY)
 
 set(OUSTER_TARGET_LINKS ouster_client)
 if (BUILD_PCAP)

ouster-ros/include/ouster_ros/os_ros.h

@@ -12,7 +12,6 @@
 #define PCL_NO_PRECOMPILE
 #include <rclcpp/rclcpp.hpp>
 #include <geometry_msgs/msg/transform_stamped.hpp>
-#include <ouster/client.h>
 #include <ouster/lidar_scan.h>
 #include <ouster/types.h>
 #include <pcl/point_cloud.h>

ouster-ros/src/lidar_packet_handler.h

@@ -15,11 +15,16 @@
 // clang-format on
 
 #include <pcl_conversions/pcl_conversions.h>
+#include <rclcpp/rclcpp.hpp>
 
 #include "lock_free_ring_buffer.h"
 #include <optional>
-#include <thread>
 #include <chrono>
+#include <mutex>
+#include <condition_variable>
+#include <thread>
+#include <vector>
+#include <string>
 
 namespace {
 

ouster-ros/src/os_sensor_node.h

@@ -19,6 +19,8 @@
 #include <atomic>
 #include <optional>
 
+#include <ouster/client.h>
+
 #include <std_srvs/srv/empty.hpp>
 #include "ouster_sensor_msgs/msg/packet_msg.hpp"
 #include "ouster_sensor_msgs/srv/get_config.hpp"