any plan to support ros2? about witmotion_imu_ros HOT 13 CLOSED

pi@pi-desktop:~/amr_ws$ colcon build --packages-select witmotion_ros --symlink-install
Starting >>> witmotion_ros
--- stderr: witmotion_ros                         
CMake Error at CMakeLists.txt:12 (message):
  witmotion-uart-qt directory does not contain submodule data.  Please update
  submodules to compile the underlying library in-place for ROS integration


---
Failed   <<< witmotion_ros [0.25s, exited with code 1]

Summary: 0 packages finished [1.20s]
  1 package failed: witmotion_ros
  1 package had stderr output: witmotion_ros

git submodule update --init --recursive

Starting >>> witmotion_ros
--- stderr: witmotion_ros                         
CMake Error at /usr/lib/aarch64-linux-gnu/cmake/Qt5/Qt5Config.cmake:28 (find_package):
  Could not find a package configuration file provided by "Qt5SerialPort"
  with any of the following names:

    Qt5SerialPortConfig.cmake
    qt5serialport-config.cmake

  Add the installation prefix of "Qt5SerialPort" to CMAKE_PREFIX_PATH or set
  "Qt5SerialPort_DIR" to a directory containing one of the above files.  If
  "Qt5SerialPort" provides a separate development package or SDK, be sure it
  has been installed.
Call Stack (most recent call first):
  witmotion-uart-qt/CMakeLists.txt:30 (find_package)


---
Failed   <<< witmotion_ros [1.74s, exited with code 1]

Summary: 0 packages finished [3.13s]
  1 package failed: witmotion_ros
  1 package had stderr output: witmotion_ros

--- stderr: witmotion_ros                         
CMake Error at CMakeLists.txt:54 (find_package):
  By not providing "FindSerialPort.cmake" in CMAKE_MODULE_PATH this project
  has asked CMake to find a package configuration file provided by
  "SerialPort", but CMake did not find one.

  Could not find a package configuration file provided by "SerialPort" with
  any of the following names:

    SerialPortConfig.cmake
    serialport-config.cmake

  Add the installation prefix of "SerialPort" to CMAKE_PREFIX_PATH or set
  "SerialPort_DIR" to a directory containing one of the above files.  If
  "SerialPort" provides a separate development package or SDK, be sure it has
  been installed.


---
Failed   <<< witmotion_ros [5.78s, exited with code 1]

Summary: 0 packages finished [6.73s]
  1 package failed: witmotion_ros
  1 package had stderr output: witmotion_ros

#include "witmotion_ros.h"

#include <signal.h>
#include <stdlib.h>
#include <stdio.h>
#include <unistd.h>

void handle_shutdown(int s)
{
//    RCLCPP_INFO(->get_logger(),"Shutting down node...");
//    rclcpp::shutdown();
    QCoreApplication::exit(0);
}

int main(int argc, char * argv[])
{ 
    ROSWitmotionSensorController& controller = ROSWitmotionSensorController::Instance();
    controller.Start();
}

/usr/bin/ld: CMakeFiles/witmotion_ros_node.dir/src/witmotion_ros_node.cpp.o: in function `main':
witmotion_ros_node.cpp:(.text+0x18c): undefined reference to `ROSWitmotionSensorController::Instance()'
/usr/bin/ld: witmotion_ros_node.cpp:(.text+0x198): undefined reference to `ROSWitmotionSensorController::Start()'
collect2: error: ld returned 1 exit status
gmake[2]: *** [CMakeFiles/witmotion_ros_node.dir/build.make:4671: witmotion_ros_node] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:158: CMakeFiles/witmotion_ros_node.dir/all] Error 2
gmake[1]: *** Waiting for unfinished jobs....
gmake: *** [Makefile:146: all] Error 2
---
Failed   <<< witmotion [1min 1s, exited with code 2]
                                     
Summary: 0 packages finished [1min 2s]
  1 package failed: witmotion
  1 package had stderr output: witmotion