提交工程配置

CMakeLists.txt

+cmake_minimum_required(VERSION 2.8.3)
+project(jfxmap)
+
+#set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+
+set(NSIGHT OFF)
+
+if(NSIGHT)
+include_directories(/usr/local/cuda/include)
+link_directories(/usr/local/cuda/lib64)
+add_definitions(-D_USING_NSIGHT_)
+endif()
+
+SET(CMAKE_BUILD_TYPE "Release")
+#set(CMAKE_BUILD_TYPE "Debug")
+SET(CMAKE_CXX_FLAGS_DEBUG "$ENV{CXXFLAGS} -O0 -Wall -g -ggdb")
+SET(CMAKE_CXX_FLAGS_RELEASE "$ENV{CXXFLAGS} -O3 -Wall")
+
+find_package(catkin REQUIRED
+        roscpp
+        rospy
+        adu_msgs
+        localization_msgs
+        hu_msgs
+        jc_map_ehp_msgs
+        jsk_recognition_msgs
+        tf
+        gnss_imu_msgs
+        )
+
+catkin_package(
+        INCLUDE_DIRS
+        CATKIN_DEPENDS  roscpp rospy std_msgs message_filters
+        DEPENDS
+)
+
+##################MapPre切图#######################
+#set(local_include_directories
+#       offline/Core
+#        offline/MapPre
+#       offline/Public
+#       submodules/ajson
+#       submodules/shapelib
+#       submodules/boolinq/include/boolinq
+#       submodules/xxtea-c
+#        )
+#include_directories(${local_include_directories})
+#
+#    file(GLOB SRC_LIST
+#            "offline/Core/*.cpp"
+#            "offline/MapPre/*.cpp"
+#            "submodules/xxtea-c/*.c"
+#            )
+#    add_executable(map_pre_exe ${SRC_LIST})
+#    add_definitions(-DSTANDALONE)
+#    link_directories(
+#            /usr/local/lib
+#            ${PROJECT_SOURCE_DIR}/build/devel/lib
+#            ${PROJECT_SOURCE_DIR}/submodules/shapelib/build
+#    )
+#    target_link_libraries(map_pre_exe
+#            shp
+#            )
+
+
+#####################所有业务配置############################
+file(GLOB MAP_SRC_LIST
+        "offline/Match/*.cpp"
+        "offline/Core/*.cpp"
+        "offline/Route/*.cpp"
+        "offline/Utils/*.cpp"
+        "offline/Projects/rav4/**/*.cpp"
+        "offline/Projects/rav4/**/*.c"
+        "submodules/xxtea-c/*.c"
+        "offline/Projects/rav4/Main.cpp"
+        )
+add_executable(map ${MAP_SRC_LIST})
+target_include_directories(map PUBLIC
+        ${catkin_INCLUDE_DIRS}
+        offline/Match
+        offline/Core
+        offline/Projects/rav4/MapInfo
+        offline/Projects/rav4/MapEhp
+        offline/Projects/rav4/Match
+        offline/Projects/rav4/PlanService
+        submodules/ajson
+        submodules/xxtea-c
+        offline/Utils
+        offline/Route
+
+        )
+target_link_libraries(map
+        ${catkin_LIBRARIES}
+        )
+if(NSIGHT)
+target_link_libraries(map nvToolsExt)
+endif()
+add_dependencies(map
+        adu_msgs_generate_messages_cpp
+        localization_msgs_generate_messages_cpp
+        hu_msgs_generate_messages_cpp
+        jc_map_msgs_generate_messages_cpp
+        gnss_imu_msgs_generate_messages_cpp
+        jc_map_ehp_msgs_generate_messages_cpp
+        )
+
+#######################Install##################################
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+install(TARGETS map
+        RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+        )
+## Mark other files for installation (e.g. launch and bag files, etc.)
+install(DIRECTORY
+        launch
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+        )
+
+install(DIRECTORY
+        maps
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+        )
+
+

README.md

-# jfx_map_location
 
-创建地图模块工程
\ No newline at end of file
+执行方法：
+1.编译代码，在catkin_ws下执行catkin_make命令
+  节点间交互的接口，单独定义成了一个包。另外，所需功能单独打包到libmap.so中，并单独提供调用接口。
+  编译后，会生成devel/lib/jfxmap/mapper的可知性文件。
+  偶尔会有如下错误信息：请再执行一次catkin_make
+  /root/catkin_ws/devel/include/hd_map_msgs/MapDataMsgs.h:19:30: fatal error: hd_map_msgs/Road.h: No such file or directory
+2.启动节点，在catkin_ws下执行roslaunch jfxmap mapper.launch
+  节点执行需要指定地图的位置，所以单独执行mapper会有问题。
+  如果需要，请按照如下方式启动:
+  ./mapper /root/catkin_ws/src/jfxmap/ ./maps/bosch/mapconfig.json
+  其中，中间的jfxmap的地址需要按照实际情况修改。

launch/map_jika.launch

+<launch>
+    <arg name="project_path" default="$(find jfxmap)/"/>
+    <arg name="config_path" default="./maps/jicaai/mapconfig.json"/>
+
+    <node pkg="jfxmap" type="map" name="map" output="screen">
+        <param name="project_path"        value="$(arg project_path)/" />
+        <param name="config_path"    value="$(arg config_path)" />
+    </node>
+</launch>
\ No newline at end of file

launch/map_rav4.launch

+<launch>
+    <arg name="project_path" default="$(find jfxmap)/"/>
+    <arg name="config_path" default="./maps/rav4/mapconfig.json"/>
+    <node pkg="jfxmap" type="map" name="map" output="log">
+        <param name="project_path"        value="$(arg project_path)/" />
+        <param name="config_path"    value="$(arg config_path)" />
+        <param name="hu_frequence"    value="10" />
+    </node>
+</launch>
\ No newline at end of file

launch/mapper.launch

+<launch>
+  <arg name="project_path" default="$(find jfxmap)/"/>
+  <arg name="config_path" default="./maps/jicaai/mapconfig.json"/>
+
+  <node pkg="jfxmap" type="mapper" name="jfxmap" output="screen">
+    <param name="project_path"        value="$(arg project_path)/" />
+    <param name="config_path"    value="$(arg config_path)" />
+  </node>
+</launch>
\ No newline at end of file

mapbox_CMakeLists.txt

+cmake_minimum_required(VERSION 2.8.3)
+project(jfxmap)
+
+#set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+
+find_package(catkin REQUIRED
+        roscpp
+        rospy
+        adu_msgs
+        localization_msgs
+        hu_msgs
+        jc_map_ehp_msgs
+        )
+
+catkin_package(
+        INCLUDE_DIRS
+        CATKIN_DEPENDS  roscpp rospy std_msgs message_filters
+        DEPENDS
+)
+
+##################MapPre切图#######################
+#set(local_include_directories
+#       offline/Core
+#        offline/MapPre
+#       offline/Public
+#       submodules/ajson
+#       submodules/shapelib
+#       submodules/boolinq/include/boolinq
+#       submodules/xxtea-c
+#        )
+#include_directories(${local_include_directories})
+#
+#    file(GLOB SRC_LIST
+#            "offline/Core/*.cpp"
+#            "offline/MapPre/*.cpp"
+#            "submodules/xxtea-c/*.c"
+#            )
+#    add_executable(map_pre_exe ${SRC_LIST})
+#    add_definitions(-DSTANDALONE)
+#    link_directories(
+#            /usr/local/lib
+#            ${PROJECT_SOURCE_DIR}/build/devel/lib
+#            ${PROJECT_SOURCE_DIR}/submodules/shapelib/build
+#    )
+#    target_link_libraries(map_pre_exe
+#            shp
+#            )
+
+
+#####################所有业务配置############################
+file(GLOB MAP_SRC_LIST
+        "offline/Match/*.cpp"
+        "offline/Core/*.cpp"
+        "offline/Route/*.cpp"
+        "offline/Utils/*.cpp"
+        "offline/Projects/jika/**/*.cpp"
+        "offline/Projects/jika/**/*.c"
+        "submodules/xxtea-c/*.c"
+        "offline/Projects/jika/Main.cpp"
+        )
+add_executable(map ${MAP_SRC_LIST})
+target_include_directories(map PUBLIC
+        ${catkin_INCLUDE_DIRS}
+        offline/Match
+        offline/Core
+        offline/Projects/jika/MapInfo
+        offline/Projects/jika/MapEhp
+        offline/Projects/jika/Match
+        offline/Projects/jika/PlanService
+        submodules/ajson
+        submodules/xxtea-c
+        offline/Utils
+        offline/Route
+
+        )
+target_link_libraries(map
+        ${catkin_LIBRARIES}
+        )
+add_dependencies(map
+        adu_msgs_generate_messages_cpp
+        localization_msgs_generate_messages_cpp
+        hu_msgs_generate_messages_cpp
+        jc_map_msgs_generate_messages_cpp
+        gnss_imu_msgs_generate_messages_cpp
+        jc_map_ehp_msgs_generate_messages_cpp
+        )
+
+#######################Install##################################
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+install(TARGETS map
+        RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+        )
+## Mark other files for installation (e.g. launch and bag files, etc.)
+install(DIRECTORY
+        launch
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+        )
+
+install(DIRECTORY
+        maps
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+        )
+
+

package.xml

+<?xml version="1.0"?>
+<package format="2">
+  <name>jfxmap</name>
+  <version>0.0.0</version>
+  <description>The jfxmap package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <maintainer email="zhangshuai@juefx.com.com">zhangshuai</maintainer>
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>message_generation</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>message_filters</build_depend>
+  <!-- <build_depend>ins_interface_msgs</build_depend> -->
+  <!-- <build_depend>hd_map_msgs</build_depend> -->
+  <!-- <build_depend>bs_map_msgs</build_depend> -->
+  <!-- <build_depend>gnss_wheel_msgs</build_depend> -->
+  <build_depend>common</build_depend>
+  <build_depend>adu_msgs</build_depend>
+  <build_depend>gnss_imu_msgs</build_depend>
+  <build_depend>hu_msgs</build_depend>
+  <build_depend>jc_map_ehp_msgs</build_depend>
+  <build_depend>localization_msgs</build_depend>
+  <build_depend>jsk_recognition_msgs</build_depend>
+  <build_depend>tf</build_depend>
+  <build_depend>gnss_imu_msgs</build_depend>
+  <exec_depend>message_runtime</exec_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>message_filters</exec_depend>
+  <!-- <exec_depend>ins_interface_msgs</exec_depend> -->
+  <!-- <exec_depend>hd_map_msgs</exec_depend> -->
+  <!-- <exec_depend>gnss_wheel_msgs</exec_depend> -->
+  <!-- <exec_depend>bs_map_msgs</exec_depend> -->
+  <exec_depend>common</exec_depend>
+  <exec_depend>adu_msgs</exec_depend>
+  <exec_depend>gnss_imu_msgs</exec_depend>
+  <exec_depend>hu_msgs</exec_depend>
+  <exec_depend>jc_map_ehp_msgs</exec_depend>
+  <exec_depend>localization_msgs</exec_depend>
+  <exec_depend>jsk_recognition_msgs</exec_depend>
+  <exec_depend>tf</exec_depend>
+  <exec_depend>gnss_imu_msgs</exec_depend>
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
\ No newline at end of file