### Installing ROS2 Lidar Localization Package Components

Source: https://github.com/rsasaki0109/lidar_localization_ros2/blob/main/CMakeLists.txt

This snippet defines the installation rules for the package, ensuring that the `lidar_localization_node` executable, `lidar_localization_component` library, and the `launch` and `param` directories are installed to their respective ROS2 standard locations.

```CMake
ament_export_libraries(lidar_localization_component)

install(TARGETS
  lidar_localization_node
  DESTINATION lib/${PROJECT_NAME})

install(TARGETS
  lidar_localization_component
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin)

install(DIRECTORY
  launch
  param
  DESTINATION share/${PROJECT_NAME}/
)

ament_package()
```

--------------------------------

### Running ROS2 Localization Demo

Source: https://github.com/rsasaki0109/lidar_localization_ros2/blob/main/README.md

This snippet provides the command-line instructions to set up and run a demonstration of the LIDAR localization package. It involves launching RViz2 for visualization, starting the main localization node, and playing a pre-recorded ROS2 bag file containing sensor data. Users must ensure the PCD map file is correctly placed and the `map_path` parameter is configured.

```Shell
rviz2 -d src/lidar_localization_ros2/rviz/localization.rviz
ros2 launch lidar_localization_ros2 lidar_localization.launch.py
ros2 bag play tc_2017-10-15-15-34-02_free_download/
```

--------------------------------

### Defining and Linking Lidar Localization Node Executable

Source: https://github.com/rsasaki0109/lidar_localization_ros2/blob/main/CMakeLists.txt

This section creates the `lidar_localization_node` executable, linking it against the previously defined `lidar_localization_component` library, PCL libraries, and ROS2 lifecycle libraries. It also sets PCL definitions and link directories.

```CMake
add_executable(lidar_localization_node src/lidar_localization_node.cpp)
target_link_libraries(lidar_localization_node
  lidar_localization_component
  ${PCL_LIBRARIES}
  ${rclcpp_lifecycle_LIBRARIES}
  ${std_msgs_LIBRARIES}
)
link_directories(
  ${PCL_LIBRARY_DIRS}
)
add_definitions(${PCL_DEFINITIONS})
```

--------------------------------

### Setting Project and C/C++ Standards in CMake

Source: https://github.com/rsasaki0109/lidar_localization_ros2/blob/main/CMakeLists.txt

This snippet initializes the CMake project and ensures that C and C++ standards are set to C99 and C++14 respectively, if not already defined. It also applies a default optimization flag for C++.

```CMake
cmake_minimum_required(VERSION 3.5)
project(lidar_localization_ros2)

if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

SET(CMAKE_CXX_FLAGS "-O2 -g ${CMAKE_CXX_FLAGS}")
```

--------------------------------

### Defining and Linking Lidar Localization Component Library

Source: https://github.com/rsasaki0109/lidar_localization_ros2/blob/main/CMakeLists.txt

This snippet defines a shared library `lidar_localization_component` from its source file and specifies its dependencies on various ROS2 packages and PCL-related libraries. It also includes necessary header directories.

```CMake
add_library(lidar_localization_component SHARED
src/lidar_localization_component.cpp
)

ament_target_dependencies(lidar_localization_component
  rclcpp
  tf2_ros
  tf2_geometry_msgs
  tf2_sensor_msgs
  tf2_eigen
  geometry_msgs
  sensor_msgs
  nav_msgs
  pcl_conversions
  ndt_omp_ros2
)

include_directories(
  include
  ${PCL_INCLUDE_DIRS}
  ${lifecycle_msgs_INCLUDE_DIRS}
  ${rclcpp_lifecycle_INCLUDE_DIRS}
  ${rclcpp_INCLUDE_DIRS})
```

--------------------------------

### Finding ROS2 and PCL Dependencies in CMake

Source: https://github.com/rsasaki0109/lidar_localization_ros2/blob/main/CMakeLists.txt

This section uses `find_package` to locate all necessary ROS2 packages (e.g., rclcpp_lifecycle, geometry_msgs, tf2_ros) and PCL, along with ndt_omp_ros2 and OpenMP, which are crucial for the lidar localization functionality.

```CMake
find_package(ament_cmake REQUIRED)
find_package(rclcpp_lifecycle REQUIRED)
find_package(lifecycle_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(tf2_geometry_msgs  REQUIRED)
find_package(tf2_sensor_msgs  REQUIRED)
find_package(tf2_eigen REQUIRED)
find_package(pcl_conversions REQUIRED)
find_package(PCL REQUIRED)
find_package(ndt_omp_ros2 REQUIRED)
find_package(OpenMP)

if (OPENMP_FOUND)
    set (CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
    set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
endif()
```

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