读RTK数据遇到的一些问题

最新推荐文章于 2024-03-25 23:25:01 发布
最新推荐文章于 2024-03-25 23:25:01 发布
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ERROR: (08-19 16:25:32.010) /apollo/RS_SDK_V1.2/rs_read_RTK/BUILD:22:1: Linking of rule '//RS_SDK_V1.2/rs_read_RTK:read_RTK' failed (Exit 1).
bazel-out/local-fastbuild/bin/RS_SDK_V1.2/rs_read_RTK/_objs/read_RTK/RS_SDK_V1.2/rs_read_RTK/src/read_RTK.pic.o: In function `_GLOBAL__sub_I_read_RTK.cpp':
read_RTK.cpp:(.text.startup+0x5b): undefined reference to `boost::system::generic_category()'
read_RTK.cpp:(.text.startup+0x67): undefined reference to `boost::system::generic_category()'
read_RTK.cpp:(.text.startup+0x73): undefined reference to `boost::system::system_category()'
collect2: error: ld returned 1 exit status

解决：

cc_library(
    name = "rs_RTK",
    srcs = ["src/rs_RTK.cpp",
            "//RS_SDK_V1.2/rs_common:common_hdrs"
    ],
    hdrs = ["include/rs_RTK.h"],
    copts = [
        "-IRS_SDK_V1.2/rs_common/include",
        # "-IRS_SDK_V1.2/rs_read_RTK",
        "-IRS_SDK_V1.2",
        # "-Iexternal/yaml_cpp/include",            # 因为yaml库中写了includes配置项，includes可以继承
        "-O3",
        "-Wall",
        "-std=c++11",
        "-fPIC",
    ],
    linkopts = ["-lboost_system",
		"-lboost_filesystem"
    ],
)

ERROR: (08-19 16:55:40.467) /apollo/RS_SDK_V1.2/rs_read_RTK/BUILD:28:1: C++ compilation of rule '//RS_SDK_V1.2/rs_read_RTK:read_RTK' failed (Exit 1).
In file included from RS_SDK_V1.2/rs_read_RTK/include/rs_RTK.h:4:0,
                 from RS_SDK_V1.2/rs_read_RTK/src/read_RTK.cpp:1:
RS_SDK_V1.2/rs_common/include/rs_common/msg/rs_msg/lidar_points_msg.h:26:23: fatal error: pcl/io/io.h: No such file or directory
 #include <pcl/io/io.h>

ERROR: (08-19 16:58:16.263) /apollo/RS_SDK_V1.2/rs_read_RTK/BUILD:29:1: C++ compilation of rule '//RS_SDK_V1.2/rs_read_RTK:read_RTK' failed (Exit 1).
In file included from external/pcl/pcl/common/io.h:45:0,
                 from external/pcl/pcl/io/io.h:43,
                 from RS_SDK_V1.2/rs_common/include/rs_common/msg/rs_msg/lidar_points_msg.h:26,
                 from RS_SDK_V1.2/rs_read_RTK/include/rs_RTK.h:4,
                 from RS_SDK_V1.2/rs_read_RTK/src/read_RTK.cpp:1:
external/pcl/pcl/pcl_base.h:49:27: fatal error: Eigen/StdVector: No such file or directory
 #include <Eigen/StdVector>
                           ^
compilation terminated.

解决：

# load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library")
package(default_visibility = ["//visibility:public"])

cc_library(
    name = "rs_RTK",
    srcs = ["src/rs_RTK.cpp",
            "//RS_SDK_V1.2/rs_common:common_hdrs"
    ],
    hdrs = ["include/rs_RTK.h"],
    deps = [
            "@yaml_cpp//:yaml",
            "@pcl",
            "@eigen",
    ],
    copts = [
        "-IRS_SDK_V1.2/rs_common/include",
        # "-IRS_SDK_V1.2/rs_read_RTK",
        "-IRS_SDK_V1.2",
        # "-Iexternal/yaml_cpp/include",            # 因为yaml库中写了includes配置项，includes可以继承
        "-O3",
        "-Wall",
        "-std=c++11",
        "-fPIC",
    ],
    linkopts = ["-lboost_system",
		"-lboost_filesystem"
    ],
)

cc_binary(
    name = "read_RTK",
    srcs = ["src/read_RTK.cpp"],
    deps = [
        ":rs_RTK",
    ],
    copts = [
        "-IRS_SDK_V1.2/rs_common/include",
        # "-IRS_SDK_V1.2/rs_read_RTK",
        "-IRS_SDK_V1.2",
        # "-Iexternal/yaml_cpp/include",            # 因为yaml库中写了includes配置项，includes可以继承
        "-O3",
        "-Wall",
        "-std=c++11",
        "-fPIC",
    ],
)

报错：

ERROR: (08-19 17:14:31.605) /apollo/RS_SDK_V1.2/rs_read_RTK/BUILD:32:1: undeclared inclusion(s) in rule '//RS_SDK_V1.2/rs_read_RTK:read_RTK':
this rule is missing dependency declarations for the following files included by 'RS_SDK_V1.2/rs_read_RTK/src/read_RTK.cpp':
  'RS_SDK_V1.2/rs_sensor/include/rs_sensor/sensor_manager/sensor_manager.h'
  'RS_SDK_V1.2/rs_lidar/include/rs_lidar/lidar_base.h'
  'RS_SDK_V1.2/rs_lidar/include/rs_lidar/input.h'
  'RS_SDK_V1.2/rs_lidar/include/rs_lidar/rslidar_packet.h'
  'RS_SDK_V1.2/rs_lidar/include/rs_lidar/rslidar_decoder.hpp'
  'RS_SDK_V1.2/rs_sensor/include/rs_sensor/driver/gnss/gnss_BT708.h'
  'RS_SDK_V1.2/rs_sensor/include/rs_sensor/driver/gnss/gnss_base.h'
  'RS_SDK_V1.2/rs_sensor/include/rs_sensor/driver/serial/rs_serial.h'
  'RS_SDK_V1.2/rs_sensor/include/rs_sensor/driver/imu/imu_TL740D.h'
  'RS_SDK_V1.2/rs_sensor/include/rs_sensor/driver/imu/imu_base.h'
  'RS_SDK_V1.2/rs_sensor/include/rs_sensor/driver/imu/imu_HWT605.h'
  'RS_SDK_V1.2/rs_sensor/include/rs_sensor/driver/ins/ins_XWG13668.h'
  'RS_SDK_V1.2/rs_sensor/include/rs_sensor/driver/ins/ins_base.h'
  'RS_SDK_V1.2/rs_sensor/include/rs_sensor/driver/odom/odom_byd.h'
  'RS_SDK_V1.2/rs_sensor/include/rs_sensor/driver/odom/odom_base.h'
  'RS_SDK_V1.2/rs_sensor/include/rs_sensor/driver/odom/can_bridge.h'
  'RS_SDK_V1.2/rs_sensor/include/rs_sensor/driver/odom/controlcan.h'
  'RS_SDK_V1.2/rs_sensor/include/rs_sensor/driver/odom/odom_jili.h'
  'RS_SDK_V1.2/rs_sensor/include/rs_sensor/driver/odom/odom_bieke.h'
  'RS_SDK_V1.2/rs_sensor/include/rs_sensor/ros/imu_ros_adapter.h'
  'RS_SDK_V1.2/rs_sensor/include/rs_sensor/ros/gnss_ros_adapter.h'
  'RS_SDK_V1.2/rs_sensor/include/rs_sensor/ros/odom_ros_adapter.h'
  'RS_SDK_V1.2/rs_sensor/include/rs_sensor/ros/lidar_points_ros_adapter.h'
  'RS_SDK_V1.2/rs_sensor/include/rs_sensor/ros/lidar_packets_ros_adapter.h'
  'RS_SDK_V1.2/rs_sensor/include/rs_sensor/proto/imu_proto_adapter.h'
  'RS_SDK_V1.2/rs_sensor/include/rs_sensor/proto/lidar_points_proto_adapter.h'
  'RS_SDK_V1.2/rs_sensor/include/rs_sensor/proto/lidar_packets_proto_adapter.h'
  'RS_SDK_V1.2/rs_sensor/include/rs_sensor/proto/gnss_proto_adapter.h'
  'RS_SDK_V1.2/rs_sensor/include/rs_sensor/proto/odom_proto_adapter.h'.

解决办法：
模仿rs_commom模块下的BUILD：

# 在rs_common中的所有头文件
filegroup(
    name = "common_hdrs",
    srcs = ["include/rs_common/common.h",]
         + glob([
             "include/rs_common/yaml/*.h",
             "include/rs_common/debug/*.h",
             "include/rs_common/interface/**/*.h",
             "include/rs_common/msg/*.h",
             "include/rs_common/msg/**/*.h",
             "include/rs_common/proto/*.h",
             "include/rs_common/proto/*.hpp",
           ]),
)

rs_lidar模块下的BUILD增加：

# 在rs_lidar中的所有头文件
filegroup(
    name = "lidar_hdrs",
    srcs = glob([
             "include/rs_lidar/*.h",
             "include/rs_lidar/*.hpp",
           ]),
)

rs_sensor模块下的BUILD增加：

# 在rs_sensor中的所有头文件
filegroup(
    name = "sensor_hdrs",
    srcs = ["include/rs_sensor/sensor_manager/sensor_manager.h",]
         + glob([
             "include/rs_sensor/driver/**/*.h",
             "include/rs_sensor/driver/serial/rs_serial.h",
             "include/rs_sensor/driver/imu/*.h",
             "include/rs_sensor/proto/*.h",
             "include/rs_sensor/ros/*.h",
           ]),
)

rs_read_RTK下的BUILD：

cc_library(
    name = "rs_RTK",
    srcs = ["src/rs_RTK.cpp",
            "//RS_SDK_V1.2/rs_common:common_hdrs",
            # "//RS_SDK_V1.2/rs_lidar/include/rs_lidar/*.h",
            "//RS_SDK_V1.2/rs_lidar:lidar_hdrs",
            "//RS_SDK_V1.2/rs_sensor:sensor_hdrs",
    ],
    hdrs = ["include/rs_RTK.h"],
    deps = [
            "@yaml_cpp//:yaml",
            "@pcl",
            "@eigen",
    ],
    copts = [
        "-IRS_SDK_V1.2/rs_common/include",
        "-IRS_SDK_V1.2/rs_sensor/include",
        "-IRS_SDK_V1.2/rs_lidar/include",
        # "-IRS_SDK_V1.2/rs_read_RTK",
        "-IRS_SDK_V1.2",
        # "-Iexternal/yaml_cpp/include",            # 因为yaml库中写了includes配置项，includes可以继承
        "-O3",
        "-Wall",
        "-std=c++11",
        "-fPIC",
    ],
    linkopts = ["-lboost_system",
		"-lboost_filesystem"
    ],
)

注意：
src = 中"//RS_SDK_V1.2/rs_lidar/include/rs_lidar/*.h",不行，否则报错：

ERROR: (08-19 17:19:44.411) /apollo/RS_SDK_V1.2/rs_lidar/BUILD:48:1: //RS_SDK_V1.2/rs_lidar:lidar_hdrs: invalid label 'include/rs_lidar/*.h' in element 0 of attribute 'srcs' in 'filegroup' rule: invalid target name 'include/rs_lidar/*.h': target names may not contain '*'.
ERROR: (08-19 17:19:44.441) /apollo/RS_SDK_V1.2/rs_read_RTK/BUILD:4:1: Target '//RS_SDK_V1.2/rs_lidar:lidar_hdrs' contains an error and its package is in error and referenced by '//RS_SDK_V1.2/rs_read_RTK:rs_RTK'.
ERROR: (08-19 17:19:44.464) Analysis of target '//RS_SDK_V1.2/rs_read_RTK:rs_RTK' failed; build aborted.

```bash
ERROR: (08-21 10:08:46.128) /apollo/RS_SDK_V1.2/rs_read_RTK/BUILD:39:1: C++ compilation of rule '//RS_SDK_V1.2/rs_read_RTK:read_RTK' failed (Exit 1).
In file included from RS_SDK_V1.2/rs_read_RTK/src/read_RTK.cpp:1:0:
RS_SDK_V1.2/rs_read_RTK/include/rs_RTK.h:27:26: error: 'GnssMsg' does not name a type
   void RTKCallback(const GnssMsg& msg);
                          ^
RS_SDK_V1.2/rs_read_RTK/include/rs_RTK.h:27:35: error: ISO C++ forbids declaration of 'msg' with no type [-fpermissive]
   void RTKCallback(const GnssMsg& msg);

error: 'GnssMsg' does not name a type
   void RTKCallback(const GnssMsg& msg);

(已经#include <rs_common/msg/rs_msg/gnss_msg.h>)
rs_common/msg/rs_msg/gnss_msg.h：

#pragma once
#include <string>
#include <array>
namespace robosense
{
namespace common
{
/**
   * @brief Gnss Message for Robosense SDK.
   * @detail Robosense GnssMsg is defined for passing Gnss related information accross different modules
   *         If ROS is turned on , we provide translation functions between ROS message and Robosense message
   *         If Proto is turned on , we provide translation functions between Protobuf message and Robosense message
   * 
   */
struct alignas(16) GnssMsg
{
  double timestamp = 0.0;
  uint32_t seq = 0;
  std::string parent_frame_id = ""; ///< the frame id of its coordinate(***equal to frame_id in ROS***)
  std::string frame_id = "";        ///< the frame id of its self

  int status = 0;                ///< the Gnss status
  uint8_t type = 0;                       ///< GNSS Sensor type, 'R' : RTK  'G' : GPS
  uint8_t sat_cnt = 0;                    ///< Number of satellite connected. Should be at least 8 for good accuracy.
  std::array<double, 3> pos{};            ///< Interms of [lat lon alt]
  std::array<double, 9> pos_cov{};        ///< Position covariance, unit: meter^2
  std::array<double, 3> orien{};          ///< Orientation, [row pitch yaw], unit: rad
  std::array<double, 9> orien_cov{};      ///< Orientation covariance, unit: rad^2
  std::array<double, 3> linear_vel{};     ///< Linear velocity, [x,y,z], unit: m/s
  std::array<double, 9> linear_vel_cov{}; ///< Linear velocity covariance, unit: m^2/s^2
};

} // namespace common
} // namespace robosense

解决：加上common::

void RTKCallback(const common::GnssMsg& msg);

问题：
在这里插入图片描述
原因：

HITXJ
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