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tested work without scout_messenger

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This commit is contained in:
pinloon.lee
2021-04-01 13:41:04 +08:00
parent 08ea403658
commit d3b2f68b48
4 changed files with 12 additions and 20 deletions
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13
scout_base/CMakeLists.txt
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@@ -24,7 +24,7 @@ find_package(catkin REQUIRED COMPONENTS
catkin_package(
INCLUDE_DIRS include
LIBRARIES scout_messenger
# LIBRARIES scout_messenger
CATKIN_DEPENDS ugv_sdk scout_msgs
# DEPENDS Boost
)
@@ -40,18 +40,19 @@ include_directories(
${catkin_INCLUDE_DIRS}
)
add_library(scout_messenger STATIC src/scout_messenger.cpp)
target_link_libraries(scout_messenger ${catkin_LIBRARIES})
add_dependencies(scout_messenger ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
# add_library(scout_messenger STATIC src/scout_messenger.cpp)
# target_link_libraries(scout_messenger ${catkin_LIBRARIES})
# add_dependencies(scout_messenger ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_executable(scout_base_node src/scout_base_node.cpp)
target_link_libraries(scout_base_node scout_messenger ${catkin_LIBRARIES})
target_link_libraries(scout_base_node ${catkin_LIBRARIES})
add_dependencies(scout_base_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
#############
## Install ##
#############
install(TARGETS scout_messenger scout_base_node
install(TARGETS scout_base_node
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})

13
scout_base/src/scout_base_node.cpp
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@@ -140,20 +140,15 @@ bool CheckSystemState(scout_msgs::ScoutCheckSystemState::Request &req,
int main(int argc, char **argv) {
// setup ROS node
ros::init(argc, argv, "scout_node");
ros::NodeHandle node;
// ros::NodeHandle node;
ros::NodeHandle node(""), private_node("~");
// connect robot device
std::string device_name;
if (argc == 2) {
device_name = {argv[1]};
ROS_INFO("Specified CAN: %s", device_name.c_str());
} else {
ROS_INFO("Please specified CAN port name");
return -1;
}
private_node.param<std::string>("port_name", device_name, std::string("can0"));
robot = std::make_shared<ScoutBase>();
robot->Connect(device_name);
robot->EnableCommandedMode();
// publisher
ros::Publisher state_pub = node.advertise<scout_msgs::ScoutMotionState>(

3
scout_msgs/CMakeLists.txt
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@@ -8,9 +8,8 @@ project(scout_msgs)
## Find catkin macros and libraries
find_package(catkin REQUIRED COMPONENTS
message_generation
message_runtime
std_msgs
message_generation
)
## System dependencies are found with CMake's conventions

3
scout_msgs/package.xml
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@@ -20,9 +20,6 @@
<build_depend>std_msgs</build_depend>
<run_depend>message_runtime</run_depend>
<run_depend>std_msgs</run_depend>
<build_export_depend>std_msgs</build_export_depend>
<exec_depend>message_runtime</exec_depend>
<exec_depend>std_msgs</exec_depend>
<export>
</export>