ROS

ros1-nodelet.cpp

‎‎​

ros1.launch

<launch>
	<!-- formatter: vscode XML tools (4 space) -->

	<!-- 使用rosbag -->
	<arg name="bag_file" default="$(find rangenet_plusplus)/rosbag/kitti_2011_09_30_drive_0027_synced.bag" />
	<node pkg="rosbag" type="play" name="rosbag" output="screen" args="$(arg bag_file) -s 20">
		<remap from="/points_raw" to="/raw_pointcloud" />
	</node>

	<!-- 使用nodelet，rosparam和gdb -->
	<node pkg="nodelet" type="nodelet" name="pcl_manager" args="manager" output="screen" launch-prefix="gdb -ex run --args" />

	<!-- 字段的filter+下采样+remove nan points -->
	<node pkg="nodelet" type="nodelet" name="voxel_grid" args="load pcl/VoxelGrid pcl_manager" output="screen">
		<remap from="~input" to="/rslidar_points" />
		<remap from="~output" to="/voxel_grid/lidar_points" />
		<!-- False表示：只处理该范围的数据 -->
		<rosparam>
			filter_field_name: z
			filter_limit_min: -1.0
			filter_limit_max: 2.0
			filter_limit_negative: True
			leaf_size: 0.1
		</rosparam>
	</node>

	<!-- 使用环境变量和group tag -->
	<arg name="use_hd_map" default="false" doc="是否使用高精度地图" />
	<arg name="lanelet2_map_path" default="$(env HOME)/data/map/gdut/gdut.osm" doc="高精度地图文件位置" />
	<arg name="lidar" default="rslidar" doc="velodyne/rslidar" />
	<group if="$(arg use_hd_map)">
		<group ns="map">
			<include file="$(find map_loader)/launch/lanelet2_map_loader.launch">
				<arg name="file_name" default="$(arg lanelet2_map_path)" />
			</include>
		</group>
	</group>

    <!-- 使用静态TF -->
	<!-- static_transform_publisher(2: relative to) x y z yaw pitch roll 父 子坐标系 -->
	<!-- ZYX: 使用的是内旋坐标系 -->
	<node pkg="tf2_ros" type="static_transform_publisher" name="lidar_2_camera" args="0, 0, 1, -1.570795, 0, -1.570795 lidar camera " />

    <!-- 使用rviz -->
    <node pkg="rviz" type="rviz" name="rviz" args="-d $(find rangenet_plusplus)/launch/rviz.rviz" />
</launch>

ros2-nodelet.cmake

cmake_minimum_required(VERSION 3.5)

project(composition)

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

find_package(ament_cmake REQUIRED)
find_package(example_interfaces REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(rcutils REQUIRED)
find_package(std_msgs REQUIRED)

include_directories(include)

# create ament index resource which references the libraries in the binary dir
set(node_plugins "")

add_library(talker_component SHARED
  src/talker_component.cpp)
target_compile_definitions(talker_component
  PRIVATE "COMPOSITION_BUILDING_DLL")
ament_target_dependencies(talker_component
  "rclcpp"
  "rclcpp_components"
  "std_msgs")
rclcpp_components_register_nodes(talker_component "composition::Talker")
set(node_plugins "${node_plugins}composition::Talker;$<TARGET_FILE:talker_component>\n")


# since the package installs libraries without exporting them
# it needs to make sure that the library path is being exported
if(NOT WIN32)
  ament_environment_hooks(
    "${ament_cmake_package_templates_ENVIRONMENT_HOOK_LIBRARY_PATH}")
endif()

add_executable(manual_composition
  src/manual_composition.cpp)
target_link_libraries(manual_composition
  talker_component
  listener_component
  server_component
  client_component)
ament_target_dependencies(manual_composition
  "rclcpp")

add_executable(linktime_composition
  src/linktime_composition.cpp)
set(libs
  talker_component
  listener_component
  server_component
  client_component)
if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
  set(libs
    "-Wl,--no-as-needed"
    ${libs}
    "-Wl,--as-needed")
endif()
target_link_libraries(linktime_composition ${libs})
ament_target_dependencies(linktime_composition
  "class_loader"
  "rclcpp"
  "rclcpp_components")

add_executable(dlopen_composition
  src/dlopen_composition.cpp)
ament_target_dependencies(dlopen_composition
  "class_loader"
  "rclcpp"
  "rclcpp_components")

install(TARGETS
  talker_component
  listener_component
  node_like_listener_component
  server_component
  client_component
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin)

install(TARGETS
  manual_composition
  linktime_composition
  dlopen_composition
  DESTINATION lib/${PROJECT_NAME})
  
# Install launch files.
install(DIRECTORY
  launch
  DESTINATION share/${PROJECT_NAME}
)

ament_package()