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modify:convert raw pointcloud data to pointcloud2 data using pcl lib

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Livox-SDK
2019-07-26 23:24:00 +08:00
parent 5a6166ca54
commit d55ae4929e
3 changed files with 153 additions and 14 deletions
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8
livox_ros_driver/CMakeLists.txt
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@@ -26,7 +26,7 @@ find_package(Boost REQUIRED)
find_package(Boost REQUIRED COMPONENTS thread)
## get pointcloud package
#find_package(PCL REQUIRED)
find_package(PCL REQUIRED)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
@@ -130,7 +130,7 @@ catkin_package(CATKIN_DEPENDS
## Your package locations should be listed before other locations
include_directories(
${catkin_INCLUDE_DIRS}
#${PCL_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
)
## Declare a C++ library
@@ -171,8 +171,8 @@ include_directories(
)
## PCL library
#link_directories(${PCL_LIBRARY_DIRS})
#add_definitions(${PCL_DEFINITIONS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})
## make sure the livox_sdk_static library is installed
find_library(LIVOX_SDK_LIBRARY liblivox_sdk_static.a /usr/local/lib)