Ported over odometry and control using new serial communication

toid_control/CMakeLists.txt

@@ -0,0 +1,63 @@
+cmake_minimum_required(VERSION 3.8)
+project(toid_control)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+set(library_name toid_control)
+
+set(PACKAGE_DEPS
+  rclcpp
+  pluginlib
+  hardware_interface
+  rclcpp_lifecycle
+  rclcpp_components
+)
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+
+foreach(PACKAGE ${PACKAGE_DEPS})
+  find_package(${PACKAGE} REQUIRED)
+endforeach()
+
+
+add_library(
+  ${library_name}
+  SHARED
+  src/toid_control.cpp
+)
+
+target_include_directories(
+  ${library_name}
+  PRIVATE
+  include
+)
+
+ament_target_dependencies(${library_name}
+  ${PACKAGE_DEPS}
+)
+
+pluginlib_export_plugin_description_file(hardware_interface toid_control_interfaces.xml)
+
+install(
+  TARGETS ${library_name} 
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+install(
+  DIRECTORY 
+    launch 
+    params
+    rviz
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+ament_export_include_directories(include)
+ament_export_libraries(${library_name})
+ament_export_dependencies(${PACKAGE_DEPS})
+
+ament_package()