ros获取imu和图像数据

最新推荐文章于 2023-10-24 11:01:58 发布

六点零六

最新推荐文章于 2023-10-24 11:01:58 发布

阅读量145

点赞数

分类专栏：笔记文章标签：计算机视觉人工智能

本文链接：https://blog.csdn.net/m0_51977577/article/details/130650550

版权

笔记专栏收录该内容

29 篇文章 0 订阅

订阅专栏

仅作为记录，如果有代码需要，可以私信
依次运行命令

source devel/setup.bash
roslaunch video_stream_opencv ahrs_data.launch
换一个终端
source devel/setup.bash
roslaunch video_stream_opencv  webcam.launch

ahrs_data.launch文件内容

<launch>
  <node pkg="video_stream_opencv" name="ahrs_driver" type="ahrs_driver" output="screen" >
    <!-- 是否输出debug信息 -->
    <param name="debug"  value="false"/>
    
    <!-- 串口设备，可通过rules.d配置固定。
     若使用DETA100,则value="/dev/wheeltec_ch340"
     若使用WHEELTEC N系列，则不需要改动 -->

    <param name="port"  value="/dev/fdilink_ahrs"/>

    <!-- 波特率 -->
    <param name="baud"  value="921600"/>

    <!-- 发布的imu话题名 -->
    <param name="imu_topic"  value="imu"/>

    <!-- 发布的imu话题中的frame_id -->
    <param name="imu_frame"  value="gyro_link"/>

    <!-- 地磁北的yaw角 -->
    <param name="mag_pose_2d_topic"  value="/mag_pose_2d"/>
    <!-- 欧拉角 -->
    <param name="Euler_angles_pub_"  value="/euler_angles"/>
    <!-- 磁力计磁场强度 -->
    <param name="Magnetic_pub_"  value="/magnetic"/>
    <!-- gps数据输出话题-->
    <param name="gps_topic_" value="/gps/fix"/>
    <!-- 机体系速度数据输出话题-->
    <param name="twist_topic_" value="/system_speed"/>
    <!-- NED系位移和速度数据输出话题-->
    <param name="NED_odom_topic_" value="/NED_odometry"/>

    <!-- 发布的数据基于不同设备有不同的坐标系   -->
    <param name="device_type"  value="1"/> <!-- 0: origin_data, 1: for single imu or ucar in ROS, 2:for Xiao in ROS -->
  </node>
</launch>

CMakelists.txt文件

cmake_minimum_required(VERSION 2.8.3)
project(video_stream_opencv)
add_definitions(-std=c++11)



find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  nodelet
  dynamic_reconfigure
  message_generation
  tf
  nav_msgs
  serial
  cv_bridge
  image_transport
  std_msgs
  std_srvs
  sensor_msgs
  camera_info_manager
  )
  generate_dynamic_reconfigure_options(
cfg/VideoStream.cfg)
  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")  
  
  find_package(Eigen3 REQUIRED)
  set(Eigen3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
  find_package(catkin REQUIRED COMPONENTS

  )

  catkin_package(
    CATKIN_DEPENDS message_runtime
  )
  
  ## ahrs_driver
  add_executable(ahrs_driver src/ahrs_driver.cpp)
  target_link_libraries(ahrs_driver crc_table ${catkin_LIBRARIES})# ${SERIAL_LIB}
  
  add_executable(imu_tf src/imu_tf.cpp)
  target_link_libraries( imu_tf ${catkin_LIBRARIES})# ${SERIAL_LIB}

  add_executable(video_stream_node src/video_stream_node.cpp)
  target_link_libraries(video_stream_node ${catkin_LIBRARIES})
  
  ## crc_table
  add_library(crc_table src/crc_table.cpp)
  
  
  
find_package(OpenCV)



include_directories(
  include 
  src
  ${catkin_INCLUDE_DIRS}
  ${Eigen3_INCLUDE_DIRS} 
  ${OpenCV_INCLUDE_DIRS})

add_library(${PROJECT_NAME} SHARED src/video_stream.cpp)
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
add_dependencies(${PROJECT_NAME} ${PROJECT_NAME}_gencfg)