The main goal of this PR is to fix the build of cartographerros on Rolling. In particular, Rolling no longer allows using std::string for the RCLCPP macros, so fix that here. This is also backwards compatible to Foxy and Dashing.
While we were in here, I noticed a bunch of non-optimal setup for the CMakeLists.txt. Clean up some of this just to make it more ament-like.
The main goal of this PR is to fix the build of cartographerros on Rolling. In particular, Rolling no longer allows using
std::stringfor the RCLCPP macros, so fix that here. This is also backwards compatible to Foxy and Dashing.While we were in here, I noticed a bunch of non-optimal setup for the CMakeLists.txt. Clean up some of this just to make it more ament-like.