First Commit message
This commit is contained in:
caroline
commit
23719e5a76
212
CMakeLists.txt
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212
CMakeLists.txt
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@ -0,0 +1,212 @@
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cmake_minimum_required(VERSION 3.0.2)
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project(pcl_tutorial)
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## Compile as C++11, supported in ROS Kinetic and newer
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||||||
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# add_compile_options(-std=c++11)
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||||||
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||||||
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## Find catkin macros and libraries
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||||||
|
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
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||||||
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## is used, also find other catkin packages
|
||||||
|
find_package(catkin REQUIRED COMPONENTS
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||||||
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roscpp
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||||||
|
rospy
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std_msgs
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||||||
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genmsg
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pcl_conversions
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pcl_ros
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)
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||||||
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## System dependencies are found with CMake's conventions
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||||||
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# find_package(Boost REQUIRED COMPONENTS system)
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||||||
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|
||||||
|
|
||||||
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## Uncomment this if the package has a setup.py. This macro ensures
|
||||||
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## modules and global scripts declared therein get installed
|
||||||
|
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
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||||||
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# catkin_python_setup()
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||||||
|
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||||||
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################################################
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||||||
|
## Declare ROS messages, services and actions ##
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||||||
|
################################################
|
||||||
|
|
||||||
|
## To declare and build messages, services or actions from within this
|
||||||
|
## package, follow these steps:
|
||||||
|
## * Let MSG_DEP_SET be the set of packages whose message types you use in
|
||||||
|
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
|
||||||
|
## * In the file package.xml:
|
||||||
|
## * add a build_depend tag for "message_generation"
|
||||||
|
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
|
||||||
|
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
|
||||||
|
## but can be declared for certainty nonetheless:
|
||||||
|
## * add a exec_depend tag for "message_runtime"
|
||||||
|
## * In this file (CMakeLists.txt):
|
||||||
|
## * add "message_generation" and every package in MSG_DEP_SET to
|
||||||
|
## find_package(catkin REQUIRED COMPONENTS ...)
|
||||||
|
## * add "message_runtime" and every package in MSG_DEP_SET to
|
||||||
|
## catkin_package(CATKIN_DEPENDS ...)
|
||||||
|
## * uncomment the add_*_files sections below as needed
|
||||||
|
## and list every .msg/.srv/.action file to be processed
|
||||||
|
## * uncomment the generate_messages entry below
|
||||||
|
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
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||||||
|
|
||||||
|
## Generate messages in the 'msg' folder
|
||||||
|
#add_message_files(FILES Num.msg)
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||||||
|
|
||||||
|
## Generate services in the 'srv' folder
|
||||||
|
#add_service_files(FILES AddTwoInts.srv)
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|
|
||||||
|
## Generate actions in the 'action' folder
|
||||||
|
# add_action_files(
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# FILES
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|
# Action1.action
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# Action2.action
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||||||
|
# )
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||||||
|
|
||||||
|
## Generate added messages and services with any dependencies listed here
|
||||||
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generate_messages(
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DEPENDENCIES
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|
std_msgs
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|
)
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||||||
|
|
||||||
|
################################################
|
||||||
|
## Declare ROS dynamic reconfigure parameters ##
|
||||||
|
################################################
|
||||||
|
|
||||||
|
## To declare and build dynamic reconfigure parameters within this
|
||||||
|
## package, follow these steps:
|
||||||
|
## * In the file package.xml:
|
||||||
|
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
|
||||||
|
## * In this file (CMakeLists.txt):
|
||||||
|
## * add "dynamic_reconfigure" to
|
||||||
|
## find_package(catkin REQUIRED COMPONENTS ...)
|
||||||
|
## * uncomment the "generate_dynamic_reconfigure_options" section below
|
||||||
|
## and list every .cfg file to be processed
|
||||||
|
|
||||||
|
## Generate dynamic reconfigure parameters in the 'cfg' folder
|
||||||
|
# generate_dynamic_reconfigure_options(
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|
# cfg/DynReconf1.cfg
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||||||
|
# cfg/DynReconf2.cfg
|
||||||
|
# )
|
||||||
|
|
||||||
|
###################################
|
||||||
|
## catkin specific configuration ##
|
||||||
|
###################################
|
||||||
|
## The catkin_package macro generates cmake config files for your package
|
||||||
|
## Declare things to be passed to dependent projects
|
||||||
|
## INCLUDE_DIRS: uncomment this if your package contains header files
|
||||||
|
## LIBRARIES: libraries you create in this project that dependent projects also need
|
||||||
|
## CATKIN_DEPENDS: catkin_packages dependent projects also need
|
||||||
|
## DEPENDS: system dependencies of this project that dependent projects also need
|
||||||
|
catkin_package(
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# INCLUDE_DIRS include
|
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# LIBRARIES pcl_tutorial
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# CATKIN_DEPENDS roscpp rospy std_msgs
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# DEPENDS system_lib
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||||||
|
)
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||||||
|
|
||||||
|
###########
|
||||||
|
## Build ##
|
||||||
|
###########
|
||||||
|
|
||||||
|
## Specify additional locations of header files
|
||||||
|
## Your package locations should be listed before other locations
|
||||||
|
include_directories(
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||||||
|
# include
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|
${catkin_INCLUDE_DIRS}
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||||||
|
)
|
||||||
|
|
||||||
|
## Declare a C++ library
|
||||||
|
# add_library(${PROJECT_NAME}
|
||||||
|
# src/${PROJECT_NAME}/pcl_tutorial.cpp
|
||||||
|
# )
|
||||||
|
|
||||||
|
## Add cmake target dependencies of the library
|
||||||
|
## as an example, code may need to be generated before libraries
|
||||||
|
## either from message generation or dynamic reconfigure
|
||||||
|
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
|
||||||
|
|
||||||
|
## Declare a C++ executable
|
||||||
|
## With catkin_make all packages are built within a single CMake context
|
||||||
|
## The recommended prefix ensures that target names across packages don't collide
|
||||||
|
# add_executable(${PROJECT_NAME}_node src/pcl_tutorial_node.cpp)
|
||||||
|
|
||||||
|
## Rename C++ executable without prefix
|
||||||
|
## The above recommended prefix causes long target names, the following renames the
|
||||||
|
## target back to the shorter version for ease of user use
|
||||||
|
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
|
||||||
|
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
|
||||||
|
|
||||||
|
## Add cmake target dependencies of the executable
|
||||||
|
## same as for the library above
|
||||||
|
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
|
||||||
|
|
||||||
|
## Specify libraries to link a library or executable target against
|
||||||
|
# target_link_libraries(${PROJECT_NAME}_node
|
||||||
|
# ${catkin_LIBRARIES}
|
||||||
|
# )
|
||||||
|
|
||||||
|
#############
|
||||||
|
## Install ##
|
||||||
|
#############
|
||||||
|
|
||||||
|
# all install targets should use catkin DESTINATION variables
|
||||||
|
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
|
||||||
|
|
||||||
|
## Mark executable scripts (Python etc.) for installation
|
||||||
|
## in contrast to setup.py, you can choose the destination
|
||||||
|
# catkin_install_python(PROGRAMS
|
||||||
|
# scripts/my_python_script
|
||||||
|
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
||||||
|
# )
|
||||||
|
|
||||||
|
## Mark executables for installation
|
||||||
|
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
|
||||||
|
# install(TARGETS ${PROJECT_NAME}_node
|
||||||
|
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
||||||
|
# )
|
||||||
|
|
||||||
|
## Mark libraries for installation
|
||||||
|
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
|
||||||
|
# install(TARGETS ${PROJECT_NAME}
|
||||||
|
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
||||||
|
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
||||||
|
# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
|
||||||
|
# )
|
||||||
|
|
||||||
|
## Mark cpp header files for installation
|
||||||
|
# install(DIRECTORY include/${PROJECT_NAME}/
|
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|
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
|
||||||
|
# FILES_MATCHING PATTERN "*.h"
|
||||||
|
# PATTERN ".svn" EXCLUDE
|
||||||
|
# )
|
||||||
|
|
||||||
|
## Mark other files for installation (e.g. launch and bag files, etc.)
|
||||||
|
# install(FILES
|
||||||
|
# # myfile1
|
||||||
|
# # myfile2
|
||||||
|
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
|
||||||
|
# )
|
||||||
|
|
||||||
|
#############
|
||||||
|
## Testing ##
|
||||||
|
#############
|
||||||
|
|
||||||
|
## Add gtest based cpp test target and link libraries
|
||||||
|
# catkin_add_gtest(${PROJECT_NAME}-test test/test_pcl_tutorial.cpp)
|
||||||
|
# if(TARGET ${PROJECT_NAME}-test)
|
||||||
|
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
|
||||||
|
# endif()
|
||||||
|
|
||||||
|
## Add folders to be run by python nosetests
|
||||||
|
# catkin_add_nosetests(test)
|
||||||
|
|
||||||
|
add_executable(talker src/pub_and_sub.cpp)
|
||||||
|
target_link_libraries(talker ${catkin_LIBRARIES})
|
||||||
|
add_dependencies(talker pcl_tutorial_generate_messages_cpp)
|
||||||
|
|
||||||
|
add_executable(initial_processing src/initial_processing.cpp)
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||||||
|
target_link_libraries(initial_processing ${catkin_LIBRARIES})
|
||||||
|
add_dependencies(initial_processing pcl_tutorial_generate_messages_cpp)
|
||||||
|
|
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|
|
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|
|
||||||
70
package.xml
Normal file
70
package.xml
Normal file
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|
|||||||
|
<?xml version="1.0"?>
|
||||||
|
<package format="2">
|
||||||
|
<name>pcl_tutorial</name>
|
||||||
|
<version>0.0.0</version>
|
||||||
|
<description>The pcl_tutorial package</description>
|
||||||
|
|
||||||
|
<!-- One maintainer tag required, multiple allowed, one person per tag -->
|
||||||
|
<!-- Example: -->
|
||||||
|
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
|
||||||
|
<maintainer email="caroline@todo.todo">caroline</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>
|
||||||
|
|
||||||
|
|
||||||
|
<!-- Url tags are optional, but multiple are allowed, one per tag -->
|
||||||
|
<!-- Optional attribute type can be: website, bugtracker, or repository -->
|
||||||
|
<!-- Example: -->
|
||||||
|
<!-- <url type="website">http://wiki.ros.org/pcl_tutorial</url> -->
|
||||||
|
|
||||||
|
|
||||||
|
<!-- Author tags are optional, multiple are allowed, one per tag -->
|
||||||
|
<!-- Authors do not have to be maintainers, but could be -->
|
||||||
|
<!-- Example: -->
|
||||||
|
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
|
||||||
|
|
||||||
|
|
||||||
|
<!-- The *depend tags are used to specify dependencies -->
|
||||||
|
<!-- Dependencies can be catkin packages or system dependencies -->
|
||||||
|
<!-- Examples: -->
|
||||||
|
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
|
||||||
|
<!-- <depend>roscpp</depend> -->
|
||||||
|
<!-- Note that this is equivalent to the following: -->
|
||||||
|
<!-- <build_depend>roscpp</build_depend> -->
|
||||||
|
<!-- <exec_depend>roscpp</exec_depend> -->
|
||||||
|
<!-- Use build_depend for packages you need at compile time: -->
|
||||||
|
<!-- <build_depend>message_generation</build_depend> -->
|
||||||
|
<!-- Use build_export_depend for packages you need in order to build against this package: -->
|
||||||
|
<!-- <build_export_depend>message_generation</build_export_depend> -->
|
||||||
|
<!-- Use buildtool_depend for build tool packages: -->
|
||||||
|
<!-- <buildtool_depend>catkin</buildtool_depend> -->
|
||||||
|
<!-- Use exec_depend for packages you need at runtime: -->
|
||||||
|
<!-- <exec_depend>message_runtime</exec_depend> -->
|
||||||
|
<!-- Use test_depend for packages you need only for testing: -->
|
||||||
|
<!-- <test_depend>gtest</test_depend> -->
|
||||||
|
<!-- Use doc_depend for packages you need only for building documentation: -->
|
||||||
|
<!-- <doc_depend>doxygen</doc_depend> -->
|
||||||
|
<buildtool_depend>catkin</buildtool_depend>
|
||||||
|
<build_depend>roscpp</build_depend>
|
||||||
|
<build_depend>rospy</build_depend>
|
||||||
|
<build_depend>std_msgs</build_depend>
|
||||||
|
<build_depend>libpcl-all-dev</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>libpcl-all</exec_depend>
|
||||||
|
|
||||||
|
|
||||||
|
<!-- The export tag contains other, unspecified, tags -->
|
||||||
|
<export>
|
||||||
|
<!-- Other tools can request additional information be placed here -->
|
||||||
|
|
||||||
|
</export>
|
||||||
|
</package>
|
||||||
60
src/initial_processing.cpp
Executable file
60
src/initial_processing.cpp
Executable file
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|
|||||||
|
#include "ros/ros.h"
|
||||||
|
#include "std_msgs/String.h"
|
||||||
|
#include "std_msgs/Bool.h"
|
||||||
|
#include "std_msgs/Float32.h"
|
||||||
|
|
||||||
|
|
||||||
|
#include <sstream>
|
||||||
|
#include <math.h>
|
||||||
|
|
||||||
|
#include <pcl/filters/passthrough.h>
|
||||||
|
#include <pcl/conversions.h>
|
||||||
|
#include <pcl_conversions/pcl_conversions.h>
|
||||||
|
#include <sensor_msgs/PointCloud2.h>
|
||||||
|
#include <visualization_msgs/Marker.h>
|
||||||
|
|
||||||
|
/*
|
||||||
|
TBD: get to know typedef such as stringstream
|
||||||
|
*/
|
||||||
|
|
||||||
|
// define publisher
|
||||||
|
ros::Publisher pub;
|
||||||
|
ros::Publisher visual;
|
||||||
|
|
||||||
|
typedef pcl::PointXYZRGB PointT;
|
||||||
|
|
||||||
|
void cloud_cb (const sensor_msgs::PointCloud2ConstPtr& cloud_msg){
|
||||||
|
|
||||||
|
|
||||||
|
// create pointer to Point Cloud in pcl
|
||||||
|
pcl::PointCloud<PointT>::Ptr cloud(new pcl::PointCloud<PointT>);
|
||||||
|
|
||||||
|
// convert ROS message data to point cloud in pcl
|
||||||
|
pcl::fromROSMsg(*cloud_msg, *cloud);
|
||||||
|
|
||||||
|
// convert to ROS data type
|
||||||
|
sensor_msgs::PointCloud2 output;
|
||||||
|
pcl::toROSMsg(*cloud, output);
|
||||||
|
pub.publish(output);
|
||||||
|
}
|
||||||
|
|
||||||
|
int main(int argc, char **argv){
|
||||||
|
|
||||||
|
// specify node name and initialize ROS
|
||||||
|
ros::init(argc, argv, "image_processing");
|
||||||
|
|
||||||
|
// first/last node handle does the initialization of node/cleanup of used resources by node
|
||||||
|
ros::NodeHandle n;
|
||||||
|
|
||||||
|
// create subscriber to receive point cloud
|
||||||
|
ros::Subscriber sub = n.subscribe<sensor_msgs::PointCloud2>("/zed/zed_node/point_cloud/cloud_registered", 1, cloud_cb);
|
||||||
|
|
||||||
|
// create publisher for output processed point cloud
|
||||||
|
pub = n.advertise<sensor_msgs::PointCloud2>("processed_cloud", 1);
|
||||||
|
|
||||||
|
// create publisher for visualising marker
|
||||||
|
visual = n.advertise<visualization_msgs::Marker> ("marker", 1);
|
||||||
|
|
||||||
|
ros::spin();
|
||||||
|
|
||||||
|
}
|
||||||
52
src/pub_and_sub.cpp
Normal file
52
src/pub_and_sub.cpp
Normal file
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|
|||||||
|
#include "ros/ros.h"
|
||||||
|
#include "std_msgs/String.h"
|
||||||
|
|
||||||
|
#include <sstream>
|
||||||
|
|
||||||
|
/*
|
||||||
|
TBD: get to know typedef such as stringstream
|
||||||
|
*/
|
||||||
|
|
||||||
|
void chatterCallback(const std_msgs::String::ConstPtr& msg){
|
||||||
|
ROS_INFO("I heard: [%s]", msg->data.c_str());
|
||||||
|
}
|
||||||
|
|
||||||
|
int main(int argc, char **argv){
|
||||||
|
|
||||||
|
// specify node name
|
||||||
|
ros::init(argc, argv, "talker");
|
||||||
|
ros::init(argc, argv, "listener");
|
||||||
|
|
||||||
|
// first/last node handle does the initialization of node/cleanup of used resources by node
|
||||||
|
ros::NodeHandle n;
|
||||||
|
|
||||||
|
// create publisher
|
||||||
|
// publishes message of type std_msgs/String on topic chatter with given cue size
|
||||||
|
// NodeHandle::advertise() returns ros::Publisher object containing publish method & unadvertise when going out of scope
|
||||||
|
ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
|
||||||
|
ros::Subscriber sub = n.subscribe("chatter", 1000, chatterCallback);
|
||||||
|
// ros::rate object specifies frequency to loop at
|
||||||
|
// keeps track of how long it has been since last Rate::sleep() call & sleeps for correct amount of time
|
||||||
|
ros::Rate loop_rate(10);
|
||||||
|
|
||||||
|
int count = 0;
|
||||||
|
while (ros::ok()){
|
||||||
|
std_msgs::String msg;
|
||||||
|
|
||||||
|
std::stringstream ss;
|
||||||
|
ss << "hello world " << count;
|
||||||
|
msg.data = ss.str();
|
||||||
|
|
||||||
|
ROS_INFO("%s", msg.data.c_str()); // replacement for printf/cout
|
||||||
|
|
||||||
|
chatter_pub.publish(msg);
|
||||||
|
|
||||||
|
ros::spinOnce(); // added to make sure that all callbackfunctions get called
|
||||||
|
|
||||||
|
loop_rate.sleep(); // use ros::rate object to sleep for remaining time to hit publish rate
|
||||||
|
++count;
|
||||||
|
}
|
||||||
|
//broascasting message to anyone who is connected
|
||||||
|
return 0;
|
||||||
|
|
||||||
|
}
|
||||||
Loading…
x
Reference in New Issue
Block a user