diff --git a/sensing/pointcloud_preprocessor/CMakeLists.txt b/sensing/pointcloud_preprocessor/CMakeLists.txt
index b3888ace507e7..20e5c38685db3 100644
--- a/sensing/pointcloud_preprocessor/CMakeLists.txt
+++ b/sensing/pointcloud_preprocessor/CMakeLists.txt
@@ -1,34 +1,14 @@
cmake_minimum_required(VERSION 3.5)
project(pointcloud_preprocessor)
-### Compile options
-if(NOT CMAKE_CXX_STANDARD)
- set(CMAKE_CXX_STANDARD 14)
- set(CMAKE_CXX_STANDARD_REQUIRED ON)
- set(CMAKE_CXX_EXTENSIONS OFF)
-endif()
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
- add_compile_options(-Wall -Wextra -Wpedantic -Werror)
-endif()
+find_package(autoware_cmake REQUIRED)
+autoware_package()
-# Ignore PCL errors in Clang
-if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
- add_compile_options(-Wno-gnu-anonymous-struct -Wno-nested-anon-types)
-endif()
-
-find_package(ament_cmake_auto REQUIRED)
find_package(OpenCV REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(Boost REQUIRED)
find_package(PCL REQUIRED)
-find_package(pcl_conversions REQUIRED)
find_package(OpenMP)
-ament_auto_find_build_dependencies()
-
-
-###########
-## Build ##
-###########
include_directories(
include
@@ -155,15 +135,6 @@ rclcpp_components_register_node(pointcloud_preprocessor_filter
PLUGIN "pointcloud_preprocessor::BlockageDiagComponent"
EXECUTABLE blockage_diag_node)
-if(BUILD_TESTING)
- find_package(ament_lint_auto REQUIRED)
- ament_lint_auto_find_test_dependencies()
-endif()
-
-#############
-## Install ##
-#############
-
ament_auto_package(INSTALL_TO_SHARE
launch
)
diff --git a/sensing/pointcloud_preprocessor/package.xml b/sensing/pointcloud_preprocessor/package.xml
index 4b1e3830f5614..9278f0f2157c4 100644
--- a/sensing/pointcloud_preprocessor/package.xml
+++ b/sensing/pointcloud_preprocessor/package.xml
@@ -16,6 +16,7 @@
Apache License 2.0
ament_cmake_auto
+ autoware_cmake
autoware_auto_vehicle_msgs
autoware_point_types
diff --git a/sensing/probabilistic_occupancy_grid_map/CMakeLists.txt b/sensing/probabilistic_occupancy_grid_map/CMakeLists.txt
index d082019df49c2..0e32166432281 100644
--- a/sensing/probabilistic_occupancy_grid_map/CMakeLists.txt
+++ b/sensing/probabilistic_occupancy_grid_map/CMakeLists.txt
@@ -1,20 +1,12 @@
cmake_minimum_required(VERSION 3.5)
project(probabilistic_occupancy_grid_map)
-if(NOT CMAKE_CXX_STANDARD)
- set(CMAKE_CXX_STANDARD 14)
- set(CMAKE_CXX_STANDARD_REQUIRED ON)
- set(CMAKE_CXX_EXTENSIONS OFF)
-endif()
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
- add_compile_options(-Wall -Wextra -Wpedantic)
-endif()
+find_package(autoware_cmake REQUIRED)
+autoware_package()
-find_package(ament_cmake_auto REQUIRED)
find_package(eigen3_cmake_module REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(PCL REQUIRED)
-ament_auto_find_build_dependencies()
# PointcloudBasedOccupancyGridMap
ament_auto_add_library(pointcloud_based_occupancy_grid_map SHARED
@@ -48,16 +40,6 @@ rclcpp_components_register_node(laserscan_based_occupancy_grid_map
EXECUTABLE laserscan_based_occupancy_grid_map_node
)
-
-if(BUILD_TESTING)
- find_package(ament_lint_auto REQUIRED)
- list(APPEND AMENT_LINT_AUTO_EXCLUDE
- # To avoid conflicts between cpplint and uncrustify w.r.t. inclusion guards
- ament_cmake_uncrustify
- )
- ament_lint_auto_find_test_dependencies()
-endif()
-
ament_auto_package(
INSTALL_TO_SHARE
launch
diff --git a/sensing/probabilistic_occupancy_grid_map/package.xml b/sensing/probabilistic_occupancy_grid_map/package.xml
index 873639a5e873c..4180843cb80d8 100644
--- a/sensing/probabilistic_occupancy_grid_map/package.xml
+++ b/sensing/probabilistic_occupancy_grid_map/package.xml
@@ -8,6 +8,7 @@
Yukihiro Saito
Apache License 2.0
ament_cmake_auto
+ autoware_cmake
eigen3_cmake_module
laser_geometry