feat: added ros1 code

Author: boitumeloruf

README.md

@@ -71,7 +71,7 @@ Further requirements:
 2. (OPTIONAL) Clone and build 'small_gicp'.<br>If this step is omitted, it will be executed as part of the first build.
 
     ```bash
-    cd multisensor_calibration && ./scripts/clone_small_gicp.sh && ./build_and_install_small_gicp.sh
+    cd multisensor_calibration && ./thirdparty/clone_small_gicp.sh && ./thirdparty/build_and_install_small_gicp.sh
     ```
 
 3. Initialize `rosdep` and install dependencies:

cmake/gitversion.cmake

@@ -0,0 +1,69 @@
+# Copyright (c) 2024 - 2025 Fraunhofer IOSB and contributors
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+#    * Redistributions of source code must retain the above copyright
+#      notice, this list of conditions and the following disclaimer.
+#
+#    * Redistributions in binary form must reproduce the above copyright
+#      notice, this list of conditions and the following disclaimer in the
+#      documentation and/or other materials provided with the distribution.
+#
+#    * Neither the name of the Fraunhofer IOSB nor the names of its
+#      contributors may be used to endorse or promote products derived from
+#      this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+# Need to call git with manually specified paths to repository
+set(GIT_BASE_COMMAND git --git-dir "${CMAKE_CURRENT_LIST_DIR}/../.git" --work-tree "${CMAKE_CURRENT_LIST_DIR}/..")
+
+# Trying to get version from git tag / revision
+execute_process(COMMAND ${GIT_BASE_COMMAND} describe --always --tags OUTPUT_VARIABLE GIT_TAG)
+string(STRIP "${GIT_TAG}" GIT_VERSION) # strip leading and trailing whitespace
+
+# get commit count
+execute_process(COMMAND ${GIT_BASE_COMMAND} rev-list HEAD --count OUTPUT_VARIABLE GIT_COMMIT_COUNT)
+string(STRIP "${GIT_COMMIT_COUNT}" GIT_COMMIT_COUNT) # strip leading and trailing whitespace
+if ("${GIT_COMMIT_COUNT}" STREQUAL "")
+    set(GIT_COMMIT_COUNT 0)
+endif()
+
+# Check if tag name does not consist of 'v' (optional) followed by three digits
+# if not append commit count to tag name
+if("${GIT_VERSION}" MATCHES "[v]*[0-9]+[.][0-9]+[.][0-9]+.*")
+    
+    # if preceeding 'v', remove
+    if("${GIT_VERSION}" MATCHES "^[v].*")
+        string(SUBSTRING "${GIT_VERSION}" 1 -1 GIT_VERSION)
+    endif()
+
+    # Turn describe output like 0.1.5-42-g652c397 into "0.1.5.42.652c397"
+    string(REPLACE "-" "." GIT_VERSION "${GIT_VERSION}")
+
+    # remove commit hash
+    string(REGEX MATCH "[0-9]+[.][0-9]+[.][0-9]+[.]*[0-9]*" GIT_VERSION "${GIT_VERSION}")
+
+else()
+
+    # append commit count to tag name
+    set(GIT_VERSION "0.0.0.${GIT_COMMIT_COUNT}")
+endif()
+
+# set return variables
+string(REPLACE "." ";" VERSION_LIST "${GIT_VERSION}")
+set(VERSION_STR "${GIT_VERSION}")
+list(GET VERSION_LIST 0 VERSION_MAJOR)
+list(GET VERSION_LIST 1 VERSION_MINOR)
+list(GET VERSION_LIST 2 VERSION_PATCH)