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Fixed build issue in ROS2 Iron environment #12

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Fixed build issue in ROS2 Iron environment #12

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4 changes: 3 additions & 1 deletion ROS2/src/VzenseROS/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -25,8 +25,10 @@ find_package(std_msgs REQUIRED)
find_package(cv_bridge REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(pcl_conversions REQUIRED)
find_package(PCL REQUIRED COMPONENTS common io)
find_package(image_transport REQUIRED)
#find_package(boost REQUIRED)

add_definitions(${PCL_DEFINITIONS})
Expand Down Expand Up @@ -64,7 +66,7 @@ add_executable(vzense_camera src/vzense_driver.cpp
file(GLOB PCL_LIBRARIES /usr/lib/x86_64-linux-gnu/libpcl_*)

target_link_libraries(vzense_camera ${libNebula_api} ${OpenCV_LIBRARIES} ${PCL_LIBRARIES} ${Boost_LIBRARIES})
ament_target_dependencies(vzense_camera rclcpp sensor_msgs std_msgs cv_bridge tf2 tf2_ros pcl_conversions)
ament_target_dependencies(vzense_camera rclcpp sensor_msgs std_msgs cv_bridge tf2 tf2_ros pcl_conversions image_transport tf2_geometry_msgs)

install(
DIRECTORY dependencies/Lib/
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20 changes: 3 additions & 17 deletions ROS2/src/VzenseROS/include/vzense_manager.hpp
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Original file line number Diff line number Diff line change
@@ -1,35 +1,21 @@
#ifndef VZENSE_MANAGER_H
#define VZENSE_MANAGER_H


#include <csignal>
#include <iostream>
// 包含头文件ros/ros.h,ROS提供的C++客户端库，在后面的编译配置中要添加相应的依赖库roscpp

#include "rclcpp/rclcpp.hpp"
#include "rclcpp/logger.hpp"
// 使用std_msgs的内置消息或者自定义数据来传递图像数据
#include <sensor_msgs/image_encodings.hpp>
#include <sensor_msgs/msg/image.hpp>

// opencv读取的图像数据传给sensor_msgs的图像消息
#include <cv_bridge/cv_bridge.h>
#include <cv_bridge/cv_bridge.hpp>

// 用来发布和订阅图像信息
#include <image_transport/image_transport.h>
#include "std_msgs/msg/string.hpp"
#include <image_transport/image_transport.hpp>
#include <rcl_interfaces/msg/parameter_event.hpp>
#include "pcl_conversions/pcl_conversions.h"


#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/io/ply_io.h>
#include <pcl/point_types.h>
#include <pcl/console/print.h>
#include <pcl/console/parse.h>
#include <pcl/console/time.h>


#include <opencv2/opencv.hpp>
#include "VzenseNebula_api.h"
using namespace std;
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4 changes: 3 additions & 1 deletion ROS2/src/VzenseROS/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -16,7 +16,9 @@
<depend>tf2</depend>
<depend>tf2_ros</depend>
<depend>pcl_conversions</depend>

<depend>image_transport</depend>
<depend>tf2_geometry_msgs</depend>

<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>

Expand Down
2 changes: 1 addition & 1 deletion ROS2/src/VzenseROS/src/vzense_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@
#include <thread>
#include "tf2/LinearMath/Matrix3x3.h"
#include "tf2/LinearMath/Quaternion.h"
#include "tf2_geometry_msgs/tf2_geometry_msgs.h"
#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
#include <tf2_ros/static_transform_broadcaster.h>

using namespace std::chrono_literals;
Expand Down