Ported over odometry and control using new serial communication

toid_odometry/CMakeLists.txt

@@ -0,0 +1,47 @@
+cmake_minimum_required(VERSION 3.8)
+project(toid_odometry)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+
+set(PACKAGE_DEPS
+  rclcpp
+  Boost
+  std_srvs
+  tf2
+  tf2_ros
+  tf2_geometry_msgs
+  toid_msgs
+)
+
+foreach(PACKAGE ${PACKAGE_DEPS})
+  find_package(${PACKAGE} REQUIRED)
+endforeach()
+
+set(SOURCES
+    src/odometry.cpp
+)
+
+add_executable(toid_odometry ${SOURCES})
+
+target_include_directories(
+  toid_odometry
+  PRIVATE
+  include
+)
+
+ament_target_dependencies(toid_odometry ${PACKAGE_DEPS})
+
+install(TARGETS toid_odometry DESTINATION lib/${PROJECT_NAME})
+
+target_compile_features(
+  toid_odometry PUBLIC
+  c_std_99
+  cxx_std_17
+)
+
+
+ament_package()