From 82417149e868dc7c322bcff7109df8725da2eed5 Mon Sep 17 00:00:00 2001 From: HiepLM Date: Sat, 7 Feb 2026 11:02:33 +0700 Subject: [PATCH] update tf3 --- robot_tf3_geometry_msgs/CMakeLists.txt | 55 ++++++++++++++------------ robot_tf3_geometry_msgs/package.xml | 2 - robot_tf3_sensor_msgs/CMakeLists.txt | 43 +++++++++++--------- robot_tf3_sensor_msgs/package.xml | 2 - 4 files changed, 54 insertions(+), 48 deletions(-) diff --git a/robot_tf3_geometry_msgs/CMakeLists.txt b/robot_tf3_geometry_msgs/CMakeLists.txt index 7f8c4f8..33f9430 100755 --- a/robot_tf3_geometry_msgs/CMakeLists.txt +++ b/robot_tf3_geometry_msgs/CMakeLists.txt @@ -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() diff --git a/robot_tf3_geometry_msgs/package.xml b/robot_tf3_geometry_msgs/package.xml index 58e93c0..7eab315 100644 --- a/robot_tf3_geometry_msgs/package.xml +++ b/robot_tf3_geometry_msgs/package.xml @@ -21,8 +21,6 @@ robot_geometry_msgs data_convert - tf3 robot_geometry_msgs data_convert - tf3 \ No newline at end of file diff --git a/robot_tf3_sensor_msgs/CMakeLists.txt b/robot_tf3_sensor_msgs/CMakeLists.txt index 09972c2..10e69c4 100755 --- a/robot_tf3_sensor_msgs/CMakeLists.txt +++ b/robot_tf3_sensor_msgs/CMakeLists.txt @@ -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() diff --git a/robot_tf3_sensor_msgs/package.xml b/robot_tf3_sensor_msgs/package.xml index 8b5b267..683d744 100644 --- a/robot_tf3_sensor_msgs/package.xml +++ b/robot_tf3_sensor_msgs/package.xml @@ -20,12 +20,10 @@ catkin robot_sensor_msgs - tf3 robot_geometry_msgs data_convert robot_sensor_msgs robot_geometry_msgs data_convert - tf3 \ No newline at end of file