slam14讲 工程实践

工程框架

文件存放内容	文件名	CMakeLists.txt 设置
二进制文件	bin	set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
自己设置的头文件	include	include_directories(${PROJECT_SOURCE_DIR}/include)(使用时调用include “myslam/xxx.h”，不易于别的库混淆)
源代码文件	src	add_subdirectory(src)
测试文件	test	add_subdirectory(test)
配置文件	config	yaml语言
第三方的cmake文件	cmake_moudles	list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)
其他工具	app	add_subdirectory(app)
目标链接库文件的存放位置	lib	set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)

yaml语法
roslaunch 加载yaml
c++ 直接加载yaml
ex:

1. yaml文件

image: ./map.pgm
resolution: 0.050000
origin: [-10.000000, -10.000000, 0.000000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196

2. c++

#include "yaml-cpp/yaml.h"
#include <iostream>
using namespace std;
int main(int argc, const char** argv) {
    YAML::Node config=YAML::LoadFile("/home/n1/notes/yaml/yaml_load_c/map.yaml");
    cout<<"resolution"<<config["resolution"]<<endl;
    cout<<"origin"<<config["origin"]<<endl;
    return 0;
}

3. CMakeLists.txt

cmake_minimum_required(VERSION 2.8)

project(load_yaml)
add_compile_options(-std=c++11)
aux_source_directory(${PROJECT_SOURCE_DIR}/yaml_load_c yaml_load_c_src)

set(YAML_LIBS "/usr/local/lib/libyaml-cpp.so")

add_executable(yaml_load_c_exe ${yaml_load_c_src})
target_link_libraries(yaml_load_c_exe ${YAML_LIBS})

.cmake 编写
cmake语法
find_package深入理解

参考第14讲的实例，基本框架如下