fix run failed

src/localization_module_lio_locus/CMakeLists.txt

@@ -25,16 +25,31 @@ find_package(yaml-cpp 0.6 REQUIRED)
 find_package(OpenMP)
 find_package(Eigen3)
 
+get_filename_component(WORKSPACE_ROOT_ABS "${CMAKE_CURRENT_SOURCE_DIR}/../../" ABSOLUTE)
+set(WORKSPACE_ROOT "${WORKSPACE_ROOT_ABS}/")
 
-set(CMAKE_PREFIX_PATH "/home/demo/deps_install" ${CMAKE_PREFIX_PATH})
-set(CMAKE_INCLUDE_PATH "/home/demo/deps_install/include" ${CMAKE_INCLUDE_PATH})
-set(CMAKE_LIBRARY_PATH "/home/demo/deps_install/lib" ${CMAKE_LIBRARY_PATH})
+set(CMAKE_PREFIX_PATH "${WORKSPACE_ROOT}deps_install" ${CMAKE_PREFIX_PATH})
+set(CMAKE_INCLUDE_PATH "${WORKSPACE_ROOT}deps_install/include" ${CMAKE_INCLUDE_PATH})
+set(CMAKE_LIBRARY_PATH "${WORKSPACE_ROOT}deps_install/lib" ${CMAKE_LIBRARY_PATH})
+set(PCL_DIR "${WORKSPACE_ROOT}deps_install/share/pcl-1.10")
 
-set(PCL_DIR /home/demo/deps_install/share/pcl-1.10)
+set(PCL_ROOT "${WORKSPACE_ROOT}deps_install")
 
-set(PCL_ROOT /home/demo/deps_install)
+find_package(PCL 1.10 REQUIRED)
 
-find_package(PCL REQUIRED)
+set(PCL_LIBRARIES_ABS "")
+foreach(lib ${PCL_LIBRARIES})
+  string(STRIP "${lib}" lib)
+  if("${lib}" MATCHES "^pcl_")
+    set(lib_path "${WORKSPACE_ROOT}deps_install/lib/lib${lib}.so")
+    if(EXISTS "${lib_path}")
+      list(APPEND PCL_LIBRARIES_ABS "${lib_path}")
+    endif()
+  else()
+    list(APPEND PCL_LIBRARIES_ABS "${lib}")
+  endif()
+endforeach()
+set(PCL_LIBRARIES ${PCL_LIBRARIES_ABS})
 
 message("##################" ${PCL_INCLUDE_DIRS})
 message("##################" ${PCL_LIBRARIES})
@@ -46,24 +61,36 @@ if (OPENMP_FOUND)
     set (CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${OpenMP_EXE_LINKER_FLAGS}")
 endif()
 
+set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,--disable-new-dtags")
+set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -Wl,--disable-new-dtags")
+set(CMAKE_SKIP_BUILD_RPATH  FALSE)
+set(CMAKE_BUILD_WITH_INSTALL_RPATH TRUE)
+set(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib;${WORKSPACE_ROOT}deps_install/lib")
+set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
+
 include_directories(
+    ${PCL_INCLUDE_DIRS}
+    ${WORKSPACE_ROOT}deps_install/include/pcl-1.10
     include/${PROJECT_NAME}
     ${pcl_conversions_INCLUDE_DIRS}
     ${EIGEN3_INCLUDE_DIRS}
-    ${PCL_INCLUDE_DIRS}
     ${YAML_CPP_INCLUDE_DIR}
     /user/include
-    /home/demo/deps_install/include/pcl-1.10
     )
 
 link_directories(
-        /home/demo/deps_install/lib
+    ${WORKSPACE_ROOT}deps_install/lib
 )
 
-
+# Install PCL libraries to the package's lib directory
+install(
+    DIRECTORY ${WORKSPACE_ROOT}deps_install/lib/
+    DESTINATION lib
+    FILES_MATCHING PATTERN "libpcl_*.so*"
+)
 
 add_subdirectory(src)
-#add_subdirectory(apps/nodelets)
+add_subdirectory(apps/nodelets)
 
 install(
     DIRECTORY launch

src/localization_module_lio_locus/apps/nodelets/CMakeLists.txt

@@ -7,6 +7,7 @@ target_link_libraries(lio_locus_node
 	point_cloud_localization
 	point_cloud_mapper
 	boost_filesystem
+    ${PCL_LIBRARIES}
 )
 
 target_include_directories(lio_locus_node PUBLIC
@@ -73,6 +74,7 @@ add_executable(cloud_preprocessing_node cloud_preprocessing_node.cpp)
 target_link_libraries(cloud_preprocessing_node 
 	cloud_pre_processor
 	boost_filesystem
+    ${PCL_LIBRARIES}
 )
 
 #target_include_directories(cloud_preprocessing_node PUBLIC

src/localization_module_lio_locus/launch/nodelets/lio_locus.launch.py

@@ -20,7 +20,7 @@ def generate_launch_description():
             Node(
                 package="lio_locus_humble",
                 executable="lio_locus_node",
-                prefix="gdb -ex run --args",
+                #prefix="gdb -ex run --args",
                 name="lio_locus",
                 output="screen",
                 parameters=[

src/localization_module_lio_locus/src/CMakeLists.txt

@@ -1,5 +1,5 @@
 add_subdirectory(point_cloud_odometry)
 add_subdirectory(point_cloud_localization)
 add_subdirectory(point_cloud_mapper)
-#add_subdirectory(lio_locus)
+add_subdirectory(lio_locus)
 

src/localization_module_lio_locus/src/lio_locus/CMakeLists.txt

@@ -6,7 +6,7 @@ target_link_libraries(${PROJECT_NAME}
     point_cloud_mapper
     boost_filesystem
     glog
-      ${PCL_LIBRARIES}
+    ${PCL_LIBRARIES}
     pcl_common
   ${YAML_CPP_LIBRARIES}
 )
@@ -25,6 +25,7 @@ add_library(cloud_pre_processor SHARED cloud_pre_processor.cpp)
 target_link_libraries(cloud_pre_processor
 	pcl_filters
 	pcl_features
+  ${PCL_LIBRARIES}
 	boost_filesystem
     glog
 	${YAML_CPP_LIBRARIES})

src/localization_module_lio_locus/src/point_cloud_localization/CMakeLists.txt

@@ -2,7 +2,7 @@ add_library(point_cloud_localization SHARED
 	PointCloudLocalization.cc utils.cc)
 
 target_link_libraries(point_cloud_localization
-	#  ${PCL_LIBRARIES}
+	  ${PCL_LIBRARIES}
         pcl_octree
     pcl_filters
     pcl_search

src/localization_module_lio_locus/src/point_cloud_mapper/CMakeLists.txt

@@ -6,12 +6,12 @@ add_library(point_cloud_mapper SHARED
 
 
 target_include_directories(point_cloud_mapper PUBLIC
-	#	${PCL_INCLUDE_DIRS}
-	/home/demo/deps_install/include/pcl-1.10
+  ${PCL_INCLUDE_DIRS}
+	${WORKSPACE_ROOT}deps_install/include/pcl-1.10
 	)
 
 target_link_libraries(point_cloud_mapper
-  ${PCL_LIBRARIRES}
+  ${PCL_LIBRARIES}
   ${YAML_CPP_LIBRARIES}
   glog
   OpenMP::OpenMP_CXX

src/localization_module_lio_locus/src/point_cloud_odometry/CMakeLists.txt

@@ -7,7 +7,7 @@ add_library(point_cloud_odometry SHARED PointCloudOdometry.cc)
 
 target_link_libraries(point_cloud_odometry
     glog
-    #    ${PCL_LIBRARIES}
+    ${PCL_LIBRARIES}
         pcl_octree
     pcl_filters
     pcl_search