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jfx_node_ros
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oscar
jfx_node_ros
Commits
d6f5d7a2
Commit
d6f5d7a2
authored
1 year ago
by
oscar
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上传发送逻辑修改
parent
a90424a5
dev
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5 changed files
with
67 additions
and
3 deletions
+67
-3
CMakeLists.txt
CMakeLists.txt
+16
-3
jfx_node_ros.launch
launch/jfx_node_ros.launch
+20
-0
SendRosMsg.cpp
src/SendRosMsg.cpp
+0
-0
SendRosMsg.hpp
src/SendRosMsg.hpp
+31
-0
main.cpp
src/main.cpp
+0
-0
No files found.
CMakeLists.txt
View file @
d6f5d7a2
...
...
@@ -2,8 +2,8 @@ cmake_minimum_required(VERSION 2.6)
project
(
jfx_node_ros
)
#
set(CMAKE_BUILD_TYPE Debug)
SET
(
CMAKE_BUILD_TYPE
"Release"
)
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"
)
...
...
@@ -11,6 +11,10 @@ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -Wall -Ofast -pthread -Wfatal
set
(
JFX_COMMON_LIBS_PATH
${
PROJECT_SOURCE_DIR
}
/../jfx_common_libs
)
find_package
(
PCL REQUIRED
)
include_directories
(
${
PCL_INCLUDE_DIRS
}
)
link_directories
(
${
PCL_LIBRARY_DIRS
}
)
add_definitions
(
${
PCL_DEFINITIONS
}
)
find_package
(
catkin REQUIRED COMPONENTS
roscpp
...
...
@@ -26,7 +30,13 @@ find_package(catkin REQUIRED COMPONENTS
)
catkin_package
(
CATKIN_DEPENDS roscpp rospy std_msgs jfx_common_msgs
CATKIN_DEPENDS
roscpp
rospy
std_msgs
jfx_common_msgs
#image_transport
#cv_bridge
)
#set(CMAKE_CXX_STANDARD 14)
...
...
@@ -61,12 +71,15 @@ include_directories(
#add_executable(yolov5 ${PROJECT_SOURCE_DIR}/yolov5.cpp)
add_executable
(
${
PROJECT_NAME
}
${
PROJECT_SOURCE_DIR
}
/src/main.cpp
${
PROJECT_SOURCE_DIR
}
/src/SendRosMsg.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
}
${
PCL_LIBRARIES
}
)
target_link_libraries
(
${
PROJECT_NAME
}
yaml-cpp
)
add_dependencies
(
${
PROJECT_NAME
}
jfx_common_msgs_gencpp
)
install
(
TARGETS
${
PROJECT_NAME
}
...
...
This diff is collapsed.
Click to expand it.
launch/jfx_node_ros.launch
View file @
d6f5d7a2
<launch>
<arg name="parampath" default="$(find jfx_node_ros)/config/params.yaml"/>
<arg name="run_mode" default="1"/>
<arg name="originDataPath" default="/media/sf_originData/data"/>
<arg name="gps_load_file" default="/media/sf_originData/102022041610.nav/102022041610_traj.txt"/>
<arg name="outPutSaveDir" default="/media/sf_originData/detect_data/"/>
<arg name="playDetectTxt" default="/media/sf_originData/detect_data/detect_gps_7.txt"/>
<arg name="pcdFileFolder" default="/media/sf_pcd_image/mesh"/>
<arg name="image0FileFolder" default="/media/sf_pcd_image/102022041610/image0"/>
<arg name="image1FileFolder" default="/media/sf_pcd_image/102022041610/image1"/>
<arg name="send_pcd" default="1"/>
<arg name="send_image" default="1"/>
<node pkg="jfx_node_ros" type="jfx_node_ros" name="jfx_node_ros" output="screen" >
<param name="parampath" value="$(arg parampath)" />
<param name="run_mode" value="$(arg run_mode)" />
<param name="originDataPath" value="$(arg originDataPath)" />
<param name="gps_load_file" value="$(arg gps_load_file)" />
<param name="outPutSaveDir" value="$(arg outPutSaveDir)" />
<param name="playDetectTxt" value="$(arg playDetectTxt)" />
<param name="pcdFileFolder" value="$(arg pcdFileFolder)" />
<param name="image0FileFolder" value="$(arg image0FileFolder)" />
<param name="image1FileFolder" value="$(arg image1FileFolder)" />
<param name="send_pcd" value="$(arg send_pcd)" />
<param name="send_image" value="$(arg send_image)" />
</node>
</launch>
This diff is collapsed.
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src/SendRosMsg.cpp
0 → 100644
View file @
d6f5d7a2
This diff is collapsed.
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src/SendRosMsg.hpp
0 → 100644
View file @
d6f5d7a2
#ifndef _SEND_ROS_MSG_HPP_
#define _SEND_ROS_MSG_HPP_
#include "ros/ros.h"
#include <jsk_recognition_msgs/BoundingBoxArray.h>
#include <visualization_msgs/MarkerArray.h>
#include "jfx_common_msgs/det_tracking_array.h"
#include "jfx_common_msgs/localization.h"
#include <sensor_msgs/PointCloud2.h>
class
LoadFileSendRosMsg
{
public
:
LoadFileSendRosMsg
()
=
default
;
~
LoadFileSendRosMsg
()
=
default
;
int
Play
(
ros
::
NodeHandle
&
nh
);
ros
::
Publisher
m_pubFusionRes
;
//发送融合后的结果
ros
::
Publisher
m_pubLocalization
;
//发送定位结果
ros
::
Publisher
m_pubBoundingBoxes
;
//发送3D框信息
ros
::
Publisher
m_pubMarkerArray
;
//发送marker框信息
ros
::
Publisher
m_pubMarkerArrow
;
//发送marker框信息
ros
::
Publisher
m_pubCloud
;
};
#endif
\ No newline at end of file
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src/main.cpp
View file @
d6f5d7a2
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