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update tf3

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This commit is contained in:
HiepLM
2026-02-07 11:02:33 +07:00
parent c8d8d3d4a9
commit 82417149e8
4 changed files with 54 additions and 48 deletions
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55
robot_tf3_geometry_msgs/CMakeLists.txt
View File

@@ -16,7 +16,7 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)
# Find dependencies
find_package(Boost REQUIRED COMPONENTS thread)
find_package(Boost REQUIRED COMPONENTS system thread)
find_package(Eigen3 REQUIRED)
find_package(GTest REQUIRED)
@@ -36,6 +36,8 @@ if (NOT BUILDING_WITH_CATKIN)
tf3
)
find_library(TF3_LIBRARY NAMES tf3 PATHS /usr/lib /usr/local/lib /usr/lib/x86_64-linux-gnu)
else()
# ========================================================
@@ -44,13 +46,14 @@ else()
find_package(catkin REQUIRED COMPONENTS
robot_geometry_msgs
data_convert
tf3
)
find_library(TF3_LIBRARY NAMES tf3 PATHS /usr/lib /usr/local/lib /usr/lib/x86_64-linux-gnu)
catkin_package(
INCLUDE_DIRS include
# LIBRARIES không cần vì đây là header-only library
CATKIN_DEPENDS robot_geometry_msgs data_convert tf3
CATKIN_DEPENDS robot_geometry_msgs data_convert
DEPENDS Eigen3 Boost
)
@@ -59,6 +62,7 @@ else()
${catkin_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
${TF3_INCLUDE_DIR}
)
endif()
@@ -97,6 +101,7 @@ else()
target_link_libraries(${PROJECT_NAME}
INTERFACE
${PACKAGES_DIR}
${TF3_LIBRARY}
)
endif()
@@ -156,26 +161,26 @@ endif()
# ========================================================
# Test executables
# ========================================================
# if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/test/test_tomsg_frommsg.cpp)
# add_executable(${PROJECT_NAME}_tomsg_frommsg_test test/test_tomsg_frommsg.cpp)
# target_link_libraries(${PROJECT_NAME}_tomsg_frommsg_test PRIVATE
# ${PROJECT_NAME}
# GTest::GTest
# GTest::Main
# Threads::Threads
# tf3
# data_convert
# )
# endif()
if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/test/test_tomsg_frommsg.cpp)
add_executable(${PROJECT_NAME}_tomsg_frommsg_test test/test_tomsg_frommsg.cpp)
target_link_libraries(${PROJECT_NAME}_tomsg_frommsg_test PRIVATE
${PROJECT_NAME}
GTest::GTest
GTest::Main
Boost::system Boost::thread
${TF3_LIBRARY}
data_convert
)
endif()
# if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/test/test_tf2_geometry_msgs.cpp)
# add_executable(${PROJECT_NAME}_geometry_msgs_test test/test_tf2_geometry_msgs.cpp)
# target_link_libraries(${PROJECT_NAME}_geometry_msgs_test PRIVATE
# ${PROJECT_NAME}
# GTest::GTest
# GTest::Main
# Threads::Threads
# tf3
# data_convert
# )
# endif()
if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/test/test_tf2_geometry_msgs.cpp)
add_executable(${PROJECT_NAME}_geometry_msgs_test test/test_tf2_geometry_msgs.cpp)
target_link_libraries(${PROJECT_NAME}_geometry_msgs_test PRIVATE
${PROJECT_NAME}
GTest::GTest
GTest::Main
Boost::system Boost::thread
${TF3_LIBRARY}
data_convert
)
endif()

2
robot_tf3_geometry_msgs/package.xml
View File

@@ -21,8 +21,6 @@
<build_depend>robot_geometry_msgs</build_depend>
<build_depend>data_convert</build_depend>
<build_depend>tf3</build_depend>
<run_depend>robot_geometry_msgs</run_depend>
<run_depend>data_convert</run_depend>
<run_depend>tf3</run_depend>
</package>

43
robot_tf3_sensor_msgs/CMakeLists.txt
View File

@@ -16,7 +16,7 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)
# Find dependencies
find_package(Boost REQUIRED COMPONENTS thread)
find_package(Boost REQUIRED COMPONENTS system thread)
find_package(Eigen3 REQUIRED)
find_package(GTest REQUIRED)
@@ -37,6 +37,8 @@ if (NOT BUILDING_WITH_CATKIN)
robot_geometry_msgs
)
find_library(TF3_LIBRARY NAMES tf3 PATHS /usr/lib /usr/local/lib /usr/lib/x86_64-linux-gnu)
else()
# ========================================================
@@ -45,14 +47,15 @@ else()
find_package(catkin REQUIRED COMPONENTS
robot_sensor_msgs
data_convert
tf3
robot_geometry_msgs
)
find_library(TF3_LIBRARY NAMES tf3 PATHS /usr/lib /usr/local/lib /usr/lib/x86_64-linux-gnu)
catkin_package(
INCLUDE_DIRS include
# LIBRARIES không cần vì đây là header-only library
CATKIN_DEPENDS robot_sensor_msgs data_convert tf3 robot_geometry_msgs
CATKIN_DEPENDS robot_sensor_msgs data_convert robot_geometry_msgs
DEPENDS Eigen3 Boost
)
@@ -61,6 +64,7 @@ else()
${catkin_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
${TF3_INCLUDE_DIR}
)
endif()
@@ -99,6 +103,7 @@ else()
target_link_libraries(${PROJECT_NAME}
INTERFACE
${PACKAGES_DIR}
${TF3_LIBRARY}
)
endif()
@@ -158,19 +163,19 @@ endif()
# # ========================================================
# # Test executables
# # ========================================================
# if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/test/test_tf2_sensor_msgs.cpp)
# add_executable(${PROJECT_NAME}_test test/test_tf2_sensor_msgs.cpp)
# target_include_directories(${PROJECT_NAME}_test PUBLIC
# ${EIGEN3_INCLUDE_DIRS}
# ${GTEST_INCLUDE_DIRS}
# )
# target_link_libraries(${PROJECT_NAME}_test PRIVATE
# ${PROJECT_NAME}
# GTest::GTest
# GTest::Main
# Threads::Threads
# robot_geometry_msgs
# tf3
# data_convert
# )
# endif()
if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/test/test_tf2_sensor_msgs.cpp)
add_executable(${PROJECT_NAME}_test test/test_tf2_sensor_msgs.cpp)
target_include_directories(${PROJECT_NAME}_test PUBLIC
${EIGEN3_INCLUDE_DIRS}
${GTEST_INCLUDE_DIRS}
)
target_link_libraries(${PROJECT_NAME}_test PRIVATE
${PROJECT_NAME}
GTest::GTest
GTest::Main
Boost::system Boost::thread
robot_geometry_msgs
${TF3_LIBRARY}
data_convert
)
endif()

2
robot_tf3_sensor_msgs/package.xml
View File

@@ -20,12 +20,10 @@
<buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
<build_depend>robot_sensor_msgs</build_depend>
<build_depend>tf3</build_depend>
<build_depend>robot_geometry_msgs</build_depend>
<build_depend>data_convert</build_depend>
<run_depend>robot_sensor_msgs</run_depend>
<run_depend>robot_geometry_msgs</run_depend>
<run_depend>data_convert</run_depend>
<run_depend>tf3</run_depend>
</package>