Hi,

I am also experiencing this in Ubuntu 22.04 😢

Hi Hector! While this issue is open here is how you can work around this.

1. Comment out your find_package(velodyne_pointcloud) call in your CMakeLists.txt file
2. Add the following code to your CMakeLists.txt file to "manually" find the package

# Manually pull in velodyne_pointcloud libraries "velodyne_rawdata" and "velodyne_cloud_types"
# - Change the headers in `find_path(...)` if other headers are needed
# - Change the libraries in `find_library(...)` if other libraries are needed
find_path(
  LIBVELODYNE_POINTCLOUD_INCLUDE_DIR NAMES
    calibration.hpp
    convert.hpp
    datacontainerbase.hpp
    organized_cloudXYZIRT.hpp
    pointcloudXYZIRT.hpp
    rawdata.hpp
    transform.hpp
  PATH_SUFFIXES velodyne_pointcloud)
find_library(LIBVELODYNE_POINTCLOUD_LIBRARY NAMES velodyne_rawdata velodyne_cloud_types)
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(libvelodyne_pointcloud DEFAULT_MSG LIBVELODYNE_POINTCLOUD_LIBRARY LIBVELODYNE_POINTCLOUD_INCLUDE_DIR)
mark_as_advanced(LIBVELODYNE_POINTCLOUD_LIBRARY LIBVELODYNE_POINTCLOUD_INCLUDE_DIR)
add_library(libvelodyne_pointcloud::libvelodyne_pointcloud INTERFACE IMPORTED GLOBAL)
target_link_libraries(libvelodyne_pointcloud::libvelodyne_pointcloud INTERFACE ${LIBVELODYNE_POINTCLOUD_LIBRARY})
target_include_directories(libvelodyne_pointcloud::libvelodyne_pointcloud INTERFACE ${LIBVELODYNE_POINTCLOUD_INCLUDE_DIR})

Then later when creating your library do something like this

add_library(my_velodyne_library src/my_velodyne_library.cpp)
ament_target_dependencies(my_velodyne_library ${my_dependencies}) # do not include velodyne_pointcloud here
target_include_directories(my_velodyne_library
  PUBLIC
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
  $<INSTALL_INTERFACE:include/${PROJECT_NAME}>
)
target_link_libraries(my_velodyne_library libvelodyne_pointcloud::libvelodyne_pointcloud) # now link to velodyne_pointcloud

Hi Hector! While this issue is open here is how you can work around this.

1. Comment out your find_package(velodyne_pointcloud) call in your CMakeLists.txt file
2. Add the following code to your CMakeLists.txt file to "manually" find the package

# Manually pull in velodyne_pointcloud libraries "velodyne_rawdata" and "velodyne_cloud_types"
# - Change the headers in `find_path(...)` if other headers are needed
# - Change the libraries in `find_library(...)` if other libraries are needed
find_path(
  LIBVELODYNE_POINTCLOUD_INCLUDE_DIR NAMES
    calibration.hpp
    convert.hpp
    datacontainerbase.hpp
    organized_cloudXYZIRT.hpp
    pointcloudXYZIRT.hpp
    rawdata.hpp
    transform.hpp
  PATH_SUFFIXES velodyne_pointcloud)
find_library(LIBVELODYNE_POINTCLOUD_LIBRARY NAMES velodyne_rawdata velodyne_cloud_types)
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(libvelodyne_pointcloud DEFAULT_MSG LIBVELODYNE_POINTCLOUD_LIBRARY LIBVELODYNE_POINTCLOUD_INCLUDE_DIR)
mark_as_advanced(LIBVELODYNE_POINTCLOUD_LIBRARY LIBVELODYNE_POINTCLOUD_INCLUDE_DIR)
add_library(libvelodyne_pointcloud::libvelodyne_pointcloud INTERFACE IMPORTED GLOBAL)
target_link_libraries(libvelodyne_pointcloud::libvelodyne_pointcloud INTERFACE ${LIBVELODYNE_POINTCLOUD_LIBRARY})
target_include_directories(libvelodyne_pointcloud::libvelodyne_pointcloud INTERFACE ${LIBVELODYNE_POINTCLOUD_INCLUDE_DIR})

Then later when creating your library do something like this

add_library(my_velodyne_library src/my_velodyne_library.cpp)
ament_target_dependencies(my_velodyne_library ${my_dependencies}) # do not include velodyne_pointcloud here
target_include_directories(my_velodyne_library
  PUBLIC
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
  $<INSTALL_INTERFACE:include/${PROJECT_NAME}>
)
target_link_libraries(my_velodyne_library libvelodyne_pointcloud::libvelodyne_pointcloud) # now link to velodyne_pointcloud

Hi @benjaminholdennearearth

Thanks for sharing this!

As I'm running this driver inside a Docker container using the Debian version of the velodyne_pointcloud package, and based on your initial suggestions on how to resolve this in the source code, I was able to build my launch package, which depends on velodyne_pointcloud, with the following:

sed -i 's/\beigen\b/Eigen3/g' /opt/ros/humble/share/velodyne_pointcloud/cmake/ament_cmake_export_dependencies-extras.cmake 

sed -i 's/\bpcl\b/PCL/g' /opt/ros/humble/share/velodyne_pointcloud/cmake/ament_cmake_export_dependencies-extras.cmake

I don't think this is the ideal approach, but it should keep me going until this issue is resolved 😅