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update tf3

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This commit is contained in:
HiepLM
2026-02-07 11:00:46 +07:00
parent ed43912c33
commit eb52edc6e8
2 changed files with 52 additions and 41 deletions
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90
CMakeLists.txt
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@@ -49,7 +49,7 @@ if (NOT BUILDING_WITH_CATKIN)
robot_cpp robot_cpp
robot_time robot_time
) )
find_library(TF3_LIBRARY NAMES tf3 PATHS /usr/lib /usr/local/lib /usr/lib/x86_64-linux-gnu)
else() else()
# ======================================================== # ========================================================
@@ -64,7 +64,6 @@ else()
robot_laser_geometry robot_laser_geometry
robot_visualization_msgs robot_visualization_msgs
robot_voxel_grid robot_voxel_grid
tf3
robot_tf3_geometry_msgs robot_tf3_geometry_msgs
robot_tf3_sensor_msgs robot_tf3_sensor_msgs
data_convert data_convert
@@ -73,10 +72,12 @@ else()
robot_time robot_time
) )
find_library(TF3_LIBRARY NAMES tf3)
catkin_package( catkin_package(
INCLUDE_DIRS include INCLUDE_DIRS include
LIBRARIES robot_costmap_2d plugins LIBRARIES robot_costmap_2d plugins
CATKIN_DEPENDS robot_std_msgs robot_sensor_msgs geometry_msgs robot_nav_msgs robot_map_msgs robot_laser_geometry robot_visualization_msgs robot_voxel_grid tf3 robot_tf3_geometry_msgs robot_tf3_sensor_msgs data_convert robot_xmlrpcpp robot_cpp robot_time CATKIN_DEPENDS robot_std_msgs robot_sensor_msgs geometry_msgs robot_nav_msgs robot_map_msgs robot_laser_geometry robot_visualization_msgs robot_voxel_grid robot_tf3_geometry_msgs robot_tf3_sensor_msgs data_convert robot_xmlrpcpp robot_cpp robot_time
DEPENDS PCL Boost DEPENDS PCL Boost
) )
@@ -87,6 +88,7 @@ else()
${Boost_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS}
${GTEST_INCLUDE_DIRS} ${GTEST_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS}
${TF3_INCLUDE_DIR}
) )
link_directories(${PCL_LIBRARY_DIRS}) link_directories(${PCL_LIBRARY_DIRS})
endif() endif()
@@ -122,6 +124,7 @@ if(BUILDING_WITH_CATKIN)
${EIGEN3_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS}
${TF3_INCLUDE_DIR}
) )
target_link_libraries(robot_costmap_2d target_link_libraries(robot_costmap_2d
@@ -130,6 +133,7 @@ if(BUILDING_WITH_CATKIN)
PRIVATE yaml-cpp PRIVATE yaml-cpp
PRIVATE dl PRIVATE dl
PRIVATE ${PCL_LIBRARIES} PRIVATE ${PCL_LIBRARIES}
PRIVATE ${TF3_LIBRARY}
) )
else() else()
@@ -141,6 +145,7 @@ else()
${EIGEN3_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS}
${TF3_INCLUDE_DIR}
) )
target_link_libraries(robot_costmap_2d target_link_libraries(robot_costmap_2d
@@ -151,6 +156,7 @@ else()
yaml-cpp yaml-cpp
dl dl
${PCL_LIBRARIES} ${PCL_LIBRARIES}
${TF3_LIBRARY}
) )
set_target_properties(robot_costmap_2d PROPERTIES set_target_properties(robot_costmap_2d PROPERTIES
@@ -189,6 +195,7 @@ if(BUILDING_WITH_CATKIN)
PRIVATE ${catkin_LIBRARIES} PRIVATE ${catkin_LIBRARIES}
PRIVATE Boost::boost Boost::system Boost::thread Boost::filesystem PRIVATE Boost::boost Boost::system Boost::thread Boost::filesystem
PRIVATE yaml-cpp PRIVATE yaml-cpp
PRIVATE ${TF3_LIBRARY}
) )
else() else()
@@ -205,6 +212,7 @@ else()
PRIVATE yaml-cpp PRIVATE yaml-cpp
PRIVATE robot_time PRIVATE robot_time
PRIVATE robot_cpp PRIVATE robot_cpp
PRIVATE ${TF3_LIBRARY}
) )
set_target_properties(plugins PROPERTIES set_target_properties(plugins PROPERTIES
@@ -270,41 +278,47 @@ endif()
# ======================================================== # ========================================================
# Test executables # Test executables
# ======================================================== # ========================================================
# option(BUILD_COSTMAP_TESTS "Build robot_costmap_2d test executables" OFF) option(BUILD_COSTMAP_TESTS "Build robot_costmap_2d test executables" ON)
# if(BUILD_COSTMAP_TESTS) if(BUILD_COSTMAP_TESTS)
# if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/test/array_parser_test.cpp) find_package(GTest REQUIRED)
# add_executable(test_array_parser test/array_parser_test.cpp) find_package(Boost REQUIRED COMPONENTS system thread filesystem)
# target_link_libraries(test_array_parser PRIVATE find_library(TF3_LIBRARY NAMES tf3 PATHS /usr/lib /usr/local/lib /usr/lib/x86_64-linux-gnu)
# robot_costmap_2d
# GTest::GTest
# GTest::Main
# Threads::Threads
# )
# endif()
# if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/test/coordinates_test.cpp) if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/test/array_parser_test.cpp)
# add_executable(test_costmap test/coordinates_test.cpp) add_executable(test_array_parser test/array_parser_test.cpp)
# target_link_libraries(test_costmap PRIVATE target_link_libraries(test_array_parser PRIVATE
# robot_costmap_2d robot_costmap_2d
# GTest::GTest GTest::GTest
# GTest::Main GTest::Main
# Threads::Threads Boost::system Boost::thread
# ) ${TF3_LIBRARY}
# endif() )
endif()
# if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/test/static_layer_test.cpp) if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/test/coordinates_test.cpp)
# add_executable(test_plugin test/static_layer_test.cpp) add_executable(test_costmap test/coordinates_test.cpp)
# target_link_libraries(test_plugin PRIVATE target_link_libraries(test_costmap PRIVATE
# robot_costmap_2d robot_costmap_2d
# Boost::boost Boost::filesystem Boost::system GTest::GTest
# yaml-cpp GTest::Main
# dl Boost::system Boost::thread
# Threads::Threads ${TF3_LIBRARY}
# tf3 )
# robot_time endif()
# GTest::GTest
# GTest::Main if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/test/static_layer_test.cpp)
# ) add_executable(test_plugin test/static_layer_test.cpp)
# endif() target_link_libraries(test_plugin PRIVATE
# endif() robot_costmap_2d
Boost::boost Boost::filesystem Boost::system
yaml-cpp
dl
Boost::system Boost::thread
robot_time
GTest::GTest
GTest::Main
${TF3_LIBRARY}
)
endif()
endif()

3
package.xml
View File

@@ -46,9 +46,6 @@
<build_depend>robot_voxel_grid</build_depend> <build_depend>robot_voxel_grid</build_depend>
<run_depend>robot_voxel_grid</run_depend> <run_depend>robot_voxel_grid</run_depend>
<build_depend>tf3</build_depend>
<run_depend>tf3</run_depend>
<build_depend>robot_tf3_geometry_msgs</build_depend> <build_depend>robot_tf3_geometry_msgs</build_depend>
<run_depend>robot_tf3_geometry_msgs</run_depend> <run_depend>robot_tf3_geometry_msgs</run_depend>