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修了一下障碍物相关

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Orange
2026-07-31 16:54:19 +08:00
parent 0c09a97e7f
commit 1d2eeecd5b
24 changed files with 14131 additions and 112 deletions
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42
src/origincar_base/CMakeLists.txt
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@@ -67,6 +67,43 @@ set(origincar_base_node_SRCS
add_executable(origincar_base_node src/origincar_base.cpp)
ament_target_dependencies(origincar_base_node tf2_ros tf2 tf2_geometry_msgs rclcpp std_msgs geometry_msgs robot_localization nav_msgs std_srvs sensor_msgs ackermann_msgs serial origincar_msg origincar_description)
add_library(wall_fit_core STATIC src/wall_fit_core.cpp)
target_include_directories(wall_fit_core PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
add_library(wall_kalman_filter STATIC src/wall_kalman_filter.cpp)
target_include_directories(wall_kalman_filter PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
target_link_libraries(wall_kalman_filter wall_fit_core)
target_link_libraries(origincar_base_node wall_kalman_filter wall_fit_core)
add_executable(wall_fit_calibrator src/wall_fit_calibrator.cpp)
target_link_libraries(wall_fit_calibrator wall_fit_core)
ament_target_dependencies(wall_fit_calibrator rclcpp sensor_msgs nav_msgs)
add_executable(wall_localization_node src/wall_localization_node.cpp)
target_link_libraries(wall_localization_node wall_fit_core)
ament_target_dependencies(wall_localization_node rclcpp sensor_msgs nav_msgs geometry_msgs tf2_ros)
add_executable(wall_preview_server src/wall_preview_server.cpp)
target_link_libraries(wall_preview_server wall_fit_core pthread)
ament_target_dependencies(wall_preview_server rclcpp sensor_msgs nav_msgs geometry_msgs)
if(BUILD_TESTING)
add_executable(wall_fit_core_test test/wall_fit_core_test.cpp)
target_link_libraries(wall_fit_core_test wall_fit_core)
add_test(NAME wall_fit_core_test COMMAND wall_fit_core_test)
add_executable(wall_kalman_filter_test test/wall_kalman_filter_test.cpp)
target_link_libraries(wall_kalman_filter_test wall_kalman_filter)
add_test(NAME wall_kalman_filter_test COMMAND wall_kalman_filter_test)
endif()
#add_executable(testNode src/test.cpp src/Quaternion_Solution.cpp)
#ament_target_dependencies(testNode rclcpp std_msgs nav_msgs std_srvs sensor_msgs ackermann_msgs serial origincar_msg)
@@ -77,6 +114,9 @@ install(PROGRAMS
install(TARGETS
origincar_base_node
wall_fit_calibrator
wall_localization_node
wall_preview_server
DESTINATION lib/${PROJECT_NAME}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
@@ -85,7 +125,7 @@ DESTINATION lib/${PROJECT_NAME}
)
install(
DIRECTORY launch config
DIRECTORY launch config preview
DESTINATION share/${PROJECT_NAME}
)
ament_package()