ros程序一些注意事项

最新推荐文章于 2023-08-16 15:47:44 发布
最新推荐文章于 2023-08-16 15:47:44 发布
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分类专栏： ROS 文章标签： 人工智能
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本文链接：https://blog.csdn.net/windxf/article/details/128966330
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该文提供了配置Astra相机在ROS环境中的CMakeLists.txt文件示例，包括编译选项、依赖库的查找以及针对不同平台的适配。此外，还包含了package.xml文件，列出了项目依赖和版本信息。cfg文件用于动态重配置相机参数，如输出模式、视频流首选项等。
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编译ros程序按照统一的标准有利于自己的调试与发布
现在贴出来astra相机的一些配置，以供后续开发参考

1-CmakeList.txt
cmake_minimum_required(VERSION 3.5.1)
project(astra_camera)
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_C_STANDARD 11)
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fPIC -O3")
set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG}  -fPIC -g")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC -O3")
set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -fPIC -g")
set(CMAKE_BUILD_TYPE "Release")
if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif ()

find_package(catkin REQUIRED
  cv_bridge
  dynamic_reconfigure
  image_geometry
  image_transport
  message_generation
  roscpp
  sensor_msgs
  std_srvs
  tf2
  tf2_ros
  message_filters
  camera_info_manager
  )
find_package(OpenCV REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(Boost REQUIRED)
find_package(PkgConfig REQUIRED)
pkg_search_module(LIBUVC REQUIRED libuvc)
if (NOT LIBUVC_FOUND)
  message(FATAL_ERROR "libuvc is not found")
endif ()
pkg_search_module(GLOG REQUIRED libglog)

if (NOT GLOG_FOUND)
  message(FATAL_ERROR "glog is not found")
endif()

execute_process(COMMAND uname -m OUTPUT_VARIABLE MACHINES)
execute_process(COMMAND getconf LONG_BIT OUTPUT_VARIABLE MACHINES_BIT)
message(STATUS "ORRBEC Machine : ${MACHINES}")
message(STATUS "ORRBEC Machine Bits : ${MACHINES_BIT}")
if ((${MACHINES} MATCHES "x86_64") AND (${MACHINES_BIT} MATCHES "64"))
  set(HOST_PLATFORM "x64")
elseif (${MACHINES} MATCHES "arm")
  set(HOST_PLATFORM "arm")
elseif ((${MACHINES} MATCHES "aarch64") AND (${MACHINES_BIT} MATCHES "64"))
  set(HOST_PLATFORM "arm64")
elseif ((${MACHINES} MATCHES "aarch64") AND (${MACHINES_BIT} MATCHES "32"))
  set(HOST_PLATFORM "arm")
endif ()

message(STATUS "ORRBEC : ${HOST_PLATFORM}")
message(STATUS "libuvc ${libuvc_VERSION_MAJOR}.${libuvc_VERSION_MINOR}.${libuvc_VERSION_PATCH}")

generate_dynamic_reconfigure_options(cfg/Astra.cfg)

add_message_files(
  FILES
  DeviceInfo.msg
  Extrinsics.msg
  Metadata.msg
)

add_service_files(
  FILES
  GetBool.srv
  GetCameraInfo.srv
  GetCameraParams.srv
  GetDeviceInfo.srv
  GetInt32.srv
  GetString.srv
  SetInt32.srv
  SetString.srv
)

generate_messages(
  DEPENDENCIES
  std_msgs sensor_msgs
)

catkin_package(
  INCLUDE_DIRS include
  LIBRARIES ${PROJECT_NAME}
  CATKIN_DEPENDS
  cv_bridge
  dynamic_reconfigure
  image_geometry
  image_transport
  message_runtime
  roscpp
  sensor_msgs
  tf2
  tf2_ros
  std_srvs
  message_filters
  camera_info_manager
)

add_definitions(-Dlibuvc_VERSION_MAJOR=${libuvc_VERSION_MAJOR})
add_definitions(-Dlibuvc_VERSION_MINOR=${libuvc_VERSION_MINOR})
add_definitions(-Dlibuvc_VERSION_PATCH=${libuvc_VERSION_PATCH})

set(ORBBEC_OPENNI2_REDIST
  "${CMAKE_CURRENT_SOURCE_DIR}/include/openni2_redist/${HOST_PLATFORM}")

link_directories(${ORBBEC_OPENNI2_REDIST}
  ${catkin_LINK_DIRS}
  ${OpenCV_LIBS})

add_library(${PROJECT_NAME}
  src/point_cloud_proc/point_cloud_xyz.cpp
  src/point_cloud_proc/point_cloud_xyzrgb.cpp
  src/d2c_filter.cpp
  src/device_listener.cpp
  src/ob_camera_info.cpp
  src/ob_frame_listener.cpp
  src/ob_timer_filter.cpp
  src/ob_camera_node_factory.cpp
  src/ob_camera_node.cpp
  src/ros_service.cpp
  src/utils.cpp
  src/uvc_camera_driver.cpp
  )

target_include_directories(${PROJECT_NAME} PUBLIC
  $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
  $<INSTALL_INTERFACE:include>
  ${catkin_INCLUDE_DIRS}
  ${Boost_INCLUDE_DIRS}
  ${libuvc_INCLUDE_DIRS}
  ${OpenCV_INCLUDED_DIRS}
  )

target_link_libraries(${PROJECT_NAME}
  -lOpenNI2
  -L${ORBBEC_OPENNI2_REDIST}
  ${catkin_LIBRARIES}
  ${CMAKE_THREAD_LIBS_INIT}
  ${OpenCV_LIBS}
  ${GLOG_LIBRARIES}
  ${LIBUVC_LIBRARIES}
  )

add_dependencies(${PROJECT_NAME}
  ${PROJECT_NAME}_gencfg
  ${PROJECT_NAME}_generate_messages_cpp)

add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS})

add_executable(${PROJECT_NAME}_node
  src/main.cpp
  )

target_include_directories(${PROJECT_NAME}_node PUBLIC
  $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
  $<INSTALL_INTERFACE:include>
  ${catkin_INCLUDE_DIRS}
  ${Boost_INCLUDE_DIRS}
  ${LIBUVC_INCLUDE_DIRS}
  ${OpenCV_INCLUDED_DIRS}
  )

target_link_libraries(${PROJECT_NAME}_node
  -lOpenNI2
  -L${ORBBEC_OPENNI2_REDIST}
  ${PROJECT_NAME}
  ${catkin_LIBRARIES}
  ${CMAKE_THREAD_LIBS_INIT}
  ${OpenCV_LIBS}
  ${LIBUVC_LIBRARIES}
  ${GLOG_LIBRARIES}
  )

add_executable(list_devices_node
  src/list_devices_node.cpp
  )
target_include_directories(list_devices_node PUBLIC
  $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
  $<INSTALL_INTERFACE:include>
  ${catkin_INCLUDE_DIRS}
  ${Boost_INCLUDE_DIRS}
  ${LIBUVC_INCLUDE_DIRS}
  ${OpenCV_INCLUDED_DIRS}
  )

target_link_libraries(list_devices_node
  -lOpenNI2
  -L${ORBBEC_OPENNI2_REDIST}
  ${PROJECT_NAME}
  ${catkin_LIBRARIES}
  ${CMAKE_THREAD_LIBS_INIT}
  ${OpenCV_LIBS}
  ${GLOG_LIBRARIES}
  ${LIBUVC_LIBRARIES}
  )

install(TARGETS ${PROJECT_NAME}
  ${PROJECT_NAME}_node
  list_devices_node
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
  )

install(FILES ${ORBBEC_OPENNI2_REDIST}/libOpenNI2.so
  DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}/
  )

install(DIRECTORY ${ORBBEC_OPENNI2_REDIST}/OpenNI2
  DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}/
  )

install(DIRECTORY include
  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}/
  )

install(FILES 56-orbbec-usb.rules
  DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}/${PROJECT_NAME}
  )

install(DIRECTORY scripts
  DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}/${PROJECT_NAME}
  )

install(FILES 56-orbbec-usb.rules
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
  )

install(DIRECTORY scripts
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
  )

install(DIRECTORY launch
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
  )

install(DIRECTORY params
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
  )
2-package.xml
<?xml version="1.0"?>
<package format="2">
  <name>astra_camera</name>
  <version>1.1.4</version>
  <description>Drivers for Orbbec Astra Devices. </description>
  <license>Apache License 2.0</license>
  <maintainer email="mocun@orbbec.com">Mo Cun</maintainer>
  <buildtool_depend>catkin</buildtool_depend>
  <depend>cv_bridge</depend>
  <depend>dynamic_reconfigure</depend>
  <depend>git</depend>
  <depend>image_geometry</depend>
  <depend>image_transport</depend>
  <depend>libudev-dev</depend>
  <depend>libusb-1.0-dev</depend>
  <depend>message_generation</depend>
  <depend>message_runtime</depend>
  <depend>rgbd_launch</depend>
  <depend>roscpp</depend>
  <depend>sensor_msgs</depend>
  <depend>std_srvs</depend>
  <depend>tf2_ros</depend>
  <depend>tf2</depend>
  <depend>message_filters</depend>
  <depend>camera_info_manager</depend>
</package>
3-cfg文件
#!/usr/bin/env python

PACKAGE = 'astra_camera'

from dynamic_reconfigure.parameter_generator_catkin import *

gen = ParameterGenerator()

# TODO Only offer modes supported by known hardware
output_mode_enum = gen.enum([
    gen.const("1024_768_5", int_t, 1, "1024x768@5"),
    gen.const("1024_768_10", int_t, 2, "1024x768@10"),
    gen.const("1024_768_15", int_t, 3, "1024x768@15"),
    gen.const("1024_768_30", int_t, 4, "1024x768@30"),
    gen.const("1024_768_60", int_t, 5, "1024x768@60"),
    gen.const("1280_1024_5", int_t, 6, "1280x1024@5"),
    gen.const("1280_1024_10", int_t, 7, "1280x1024@10"),
    gen.const("1280_1024_15", int_t, 8, "1280x1024@15"),
    gen.const("1280_1024_30", int_t, 9, "1280x1024@30"),
    gen.const("1280_1024_60", int_t, 10, "1280x1024@60"),
    gen.const("1280_720_5", int_t, 11, "1280x720@5"),
    gen.const("1280_720_10", int_t, 12, "1280x720@10"),
    gen.const("1280_720_15", int_t, 13, "1280x720@15"),
    gen.const("1280_720_30", int_t, 14, "1280x720@30"),
    gen.const("1280_720_60", int_t, 15, "1280x720@60"),
    gen.const("1280_800_5", int_t, 16, "1280x800@5"),
    gen.const("1280_800_10", int_t, 17, "1280x800@10"),
    gen.const("1280_800_15", int_t, 18, "1280x800@15"),
    gen.const("1280_800_30", int_t, 19, "1280x800@30"),
    gen.const("1280_800_60", int_t, 20, "1280x800@60"),
    gen.const("160_120_5", int_t, 21, "160x120@5"),
    gen.const("160_120_10", int_t, 22, "160x120@10"),
    gen.const("160_120_15", int_t, 23, "160x120@15"),
    gen.const("160_120_30", int_t, 24, "160x120@30"),
    gen.const("160_120_60", int_t, 25, "160x120@60"),
    gen.const("240_180_5", int_t, 26, "240x180@5"),
    gen.const("240_180_10", int_t, 27, "240x180@10"),
    gen.const("240_180_15", int_t, 28, "240x180@15"),
    gen.const("240_180_30", int_t, 29, "240x180@30"),
    gen.const("240_180_60", int_t, 30, "240x180@60"),
    gen.const("320_180_5", int_t, 31, "320x180@5"),
    gen.const("320_180_10", int_t, 32, "320x180@10"),
    gen.const("320_180_15", int_t, 33, "320x180@15"),
    gen.const("320_180_30", int_t, 34, "320x180@30"),
    gen.const("320_180_60", int_t, 35, "320x180@60"),
    gen.const("320_200_5", int_t, 36, "320x200@5"),
    gen.const("320_200_10", int_t, 37, "320x200@10"),
    gen.const("320_200_15", int_t, 38, "320x200@15"),
    gen.const("320_200_30", int_t, 39, "320x200@30"),
    gen.const("320_200_60", int_t, 40, "320x200@60"),
    gen.const("320_240_5", int_t, 41, "320x240@5"),
    gen.const("320_240_10", int_t, 42, "320x240@10"),
    gen.const("320_240_15", int_t, 43, "320x240@15"),
    gen.const("320_240_30", int_t, 44, "320x240@30"),
    gen.const("320_240_60", int_t, 45, "320x240@60"),
    gen.const("480_360_5", int_t, 46, "480x360@5"),
    gen.const("480_360_10", int_t, 47, "480x360@10"),
    gen.const("480_360_15", int_t, 48, "480x360@15"),
    gen.const("480_360_30", int_t, 49, "480x360@30"),
    gen.const("480_360_60", int_t, 50, "480x360@60"),
    gen.const("512_384_5", int_t, 51, "512x384@5"),
    gen.const("512_384_10", int_t, 52, "512x384@10"),
    gen.const("512_384_15", int_t, 53, "512x384@15"),
    gen.const("512_384_30", int_t, 54, "512x384@30"),
    gen.const("512_384_60", int_t, 55, "512x384@60"),
    gen.const("640_360_5", int_t, 56, "640x360@5"),
    gen.const("640_360_10", int_t, 57, "640x360@10"),
    gen.const("640_360_15", int_t, 58, "640x360@15"),
    gen.const("640_360_30", int_t, 59, "640x360@30"),
    gen.const("640_360_60", int_t, 60, "640x360@60"),
    gen.const("640_400_5", int_t, 61, "640x400@5"),
    gen.const("640_400_10", int_t, 62, "640x400@10"),
    gen.const("640_400_15", int_t, 63, "640x400@15"),
    gen.const("640_400_30", int_t, 64, "640x400@30"),
    gen.const("640_400_60", int_t, 65, "640x400@60"),
    gen.const("640_480_5", int_t, 66, "640x480@5"),
    gen.const("640_480_10", int_t, 67, "640x480@10"),
    gen.const("640_480_15", int_t, 68, "640x480@15"),
    gen.const("640_480_30", int_t, 69, "640x480@30"),
    gen.const("640_480_60", int_t, 70, "640x480@60"),
    gen.const("160_100_5", int_t, 71, "160x100@5"),
    gen.const("160_100_15", int_t, 72, "160x100@15"),
    gen.const("160_100_30", int_t, 73, "160x100@30"),
    gen.const("160_100_60", int_t, 74, "160x100@60"),

], "output mode")

gen.add("edited_video_modes", str_t, 0, "edited video mode",
        output_mode_enum.replace("'", "\\\""))

video_stream_enum = gen.enum([
    gen.const("RGB", bool_t, True, "RGB video stream preferred"),
    gen.const("IR", bool_t, True, "IR video stream preferred")
], "preferred video stream mode")

gen.add("rgb_preferred",
        bool_t,
        0,
        "Preferred camera stream",
        True,
        edit_method=video_stream_enum)

gen.add("ir_mode",
        int_t,
        0,
        "Video mode for IR camera",
        68,
        1,
        74,
        edit_method=output_mode_enum)

gen.add("color_mode",
        int_t,
        0,
        "Video mode for color camera",
        68,
        1,
        74,
        edit_method=output_mode_enum)
gen.add("depth_mode",
        int_t,
        0,
        "Video mode for depth camera",
        69,
        1,
        74,
        edit_method=output_mode_enum)

gen.add("depth_align", bool_t, 0, "Hardware depth to color", False)
gen.add("color_depth_synchronization", bool_t, 0,
        "Synchronization of color and depth camera", False)
gen.add("auto_exposure", bool_t, 0, "Auto-Exposure", True)
gen.add("auto_white_balance", bool_t, 0, "Auto-White-Balance", True)

gen.add(
    "data_skip", int_t, 0,
    "Skip N images for every image published (rgb/depth/depth_registered/ir)",
    0, 0, 10)

gen.add("ir_time_offset", double_t, 0, "ir image time offset in seconds",
        -0.033, -1.0, 1.0)
gen.add("color_time_offset", double_t, 0, "color image time offset in seconds",
        -0.033, -1.0, 1.0)
gen.add("depth_time_offset", double_t, 0, "depth image time offset in seconds",
        -0.033, -1.0, 1.0)

gen.add("depth_ir_offset_x", double_t, 0,
        "X offset between IR and depth images", 5.0, -20.0, 20.0)
gen.add("depth_ir_offset_y", double_t, 0,
        "Y offset between IR and depth images", 4.0, -20.0, 20.0)

gen.add("z_offset_mm", int_t, 0, "Z offset in mm", 0, -200, 200)
gen.add("z_scaling", double_t, 0, "Scaling factor for depth values", 1.0, 0.5,
        1.5)

gen.add("use_device_time", bool_t, 0, "Use internal timer of OpenNI device",
        True)

gen.add("keep_alive", bool_t, 0, "Send keep alive message to device", False)

exit(gen.generate(PACKAGE, "Astra", "Astra"))
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