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CMakeLists.txt

+cmake_minimum_required(VERSION 2.6)
+
+project(jfx_node_ros)
+
+#set(CMAKE_BUILD_TYPE Debug)
+SET(CMAKE_BUILD_TYPE "Release")
+
+SET(CMAKE_CXX_FLAGS_DEBUG "$ENV{CXXFLAGS} -O0 -Wall -g -ggdb")
+SET(CMAKE_CXX_FLAGS_RELEASE "$ENV{CXXFLAGS} -O2 -Wall")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -Wall -Ofast -pthread -Wfatal-errors -D_MWAITXINTRIN_H_INCLUDED")
+
+set(JFX_COMMON_LIBS_PATH ${PROJECT_SOURCE_DIR}/../jfx_common_libs)
+
+
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  std_msgs
+  cv_bridge
+  image_transport
+  message_filters
+  sensor_msgs
+  tf
+  message_generation
+  jfx_common_msgs
+  )
+
+catkin_package(
+   CATKIN_DEPENDS roscpp rospy std_msgs jfx_common_msgs
+)
+
+#set(CMAKE_CXX_STANDARD 14)
+#find_package(PCL 1.8 REQUIRED )
+
+find_package(yaml-cpp REQUIRED)
+include_directories(${YAML_CPP_INCLUDE_DIR})
+
+
+include_directories(/usr/include/pcl-1.8 /usr/include/eigen3 ${catkin_INCLUDE_DIRS})
+
+#add_definitions(-D_USING_QUEUE_STRUCT_H_)
+
+find_package(OpenCV REQUIRED)
+include_directories(OpenCV_INCLUDE_DIRS)
+
+FIND_PACKAGE( OpenMP REQUIRED)
+if(OPENMP_FOUND)
+    message("OPENMP FOUND")
+    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
+endif()
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(${catkin_INCLUDE_DIRS})
+include_directories(
+    ${PROJECT_SOURCE_DIR}/src/ros/
+    ${JFX_COMMON_LIBS_PATH}/common
+    )
+
+#add_executable(yolov5 ${PROJECT_SOURCE_DIR}/yolov5.cpp)
+add_executable(${PROJECT_NAME} 
+        ${PROJECT_SOURCE_DIR}/src/main.cpp 
+        )
+
+target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBS})
+#target_link_libraries(${PROJECT_NAME} ${PCL_COMMON_LIBRARIES} ${PCL_IO_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} yaml-cpp)
+
+install(TARGETS
+    ${PROJECT_NAME}
+    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+    RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(DIRECTORY launch/
+    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
+)
+
+install(DIRECTORY config/
+    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config
+)

config/params.yaml

+CAM_ID : [0, 1, 2, 3, 4, 5]
+merge_mode: 1
+save_mode: 1
+save_interval: 500 
+save_totel_num: 3000
+addr_info: "28"
+save_path: "/workspace/wqb/28-cross/"
+lidar_topic: "/lidar/pointcloud"
+lidar_delay: 0
+merge_base: 0
+merge_interval: 50
+img_compressed: 0
+img_png: 0
+save_queue_num: 100
+objects_topic: "/detection/lidar_detector/objects"
+object_type: 3
+object_num: 3
+object_x: [-200,200]
+object_y: [-200,200]
+object_yaw: [-3.1416,3.1416]
+CAM_NAME: ["C1","C2","C3","C4"]
+C1:
+  CAM_NAME: "cam0"
+  CAM_TOPIC: "camera_array/cam0/image_raw"
+  CAM_INDEX: 1
+C2:
+  CAM_NAME: "cam1"
+  CAM_TOPIC: "camera_array/cam1/image_raw"
+  CAM_INDEX: 2  
+C3:
+  CAM_NAME: "cam2"
+  CAM_TOPIC: "camera_array/cam2/image_raw"
+  CAM_INDEX: 3  
+C4:
+  CAM_NAME: "cam3"
+  CAM_TOPIC: "camera_array/cam3/image_raw"
+  CAM_INDEX: 4  

launch/jfx_node_ros.launch

+<launch>
+  <arg name="parampath"  default="$(find jfx_node_ros)/config/params.yaml"/>
+  <node pkg="jfx_node_ros" type="jfx_node_ros" name="jfx_node_ros" output="screen" >
+    <param name="parampath" value="$(arg parampath)" />
+  </node>
+</launch>

package.xml

+<?xml version="1.0"?>
+<package format="2">
+  <name>jfx_node_ros</name>
+  <version>1.0.0</version>
+  <description>The jfx_node_ros package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <maintainer email="songxiaofeng@juefx.com">oscar</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>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>jfx_common_msgs</build_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>jfx_common_msgs</exec_depend>
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

src/README.md

+# data_gather_src
+
+数据采集的源代码
\ No newline at end of file

src/main.cpp

+#include <iostream>
+#include <string>
+#include <thread>
+#include <vector>
+#include <sys/time.h>
+// #include "Synchronizer.hpp"
+#include "unistd.h"
+#include <ros/ros.h>
+
+int main(int argc, char** argv) {
+    ros::init(argc, argv, "jfx_node_ros");
+
+    printf("this is empty node\n");
+    // ros::NodeHandle phpriv_nh("~");
+    // juefx_data_gather::Synchronizer jfx_inter(phpriv_nh);
+
+    ros::spin();
+
+    return 0;
+}