fix CMakeLists.txt to expose LMS1xx driver

Author: Karsten1987

CMakeLists.txt

@@ -7,18 +7,21 @@ include_directories(include ${console_bridge_INCLUDE_DIRS})
 add_library(LMS1xx src/LMS1xx.cpp)
 target_link_libraries(LMS1xx ${console_bridge_LIBRARIES})
 
+
 # Regular catkin package follows.
 find_package(catkin REQUIRED COMPONENTS roscpp sensor_msgs)
-catkin_package(CATKIN_DEPENDS roscpp)
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES LMS1xx
+  CATKIN_DEPENDS roscpp
+)
 
 include_directories(include ${catkin_INCLUDE_DIRS})
+
 add_executable(LMS1xx_node src/LMS1xx_node.cpp)
 target_link_libraries(LMS1xx_node LMS1xx ${catkin_LIBRARIES})
 
-add_executable(LMS1xx_configuration src/LMS1xx_configuration.cpp)
-target_link_libraries(LMS1xx_configuration LMS1xx ${catkin_LIBRARIES})
-
-install(TARGETS LMS1xx LMS1xx_node LMS1xx_configuration
+install(TARGETS LMS1xx LMS1xx_node
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}

launch/LMS1xx_configuration.launch

@@ -47,10 +47,10 @@ int main(int argc, char **argv)
 
       //check if laser is fully initialized, else reconnect
       //assuming fully initialized => scaningFrequency=5000
-      //if (cfg.scaningFrequency != 5000) {
-	//laser.disconnect();
-	//ROS_INFO("Waiting for laser to initialize...");
-      //}
+      if (cfg.scaningFrequency != 5000) {
+          laser.disconnect();
+          ROS_INFO("Waiting for laser to initialize...");
+      }
 
     } while (!laser.isConnected());