HiepLM/AMR_T800
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update tf3

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This commit is contained in:
HiepLM
2026-02-07 11:07:04 +07:00
parent 9c436fdae6
commit 7e5ace2859
4 changed files with 7 additions and 3 deletions
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5
Controllers/Packages/amr_control/CMakeLists.txt
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@@ -26,6 +26,7 @@ find_package(catkin REQUIRED COMPONENTS
robot_nav_msgs robot_nav_msgs
) )
find_library(TF3_LIBRARY NAMES tf3 PATHS /usr/lib /usr/local/lib /usr/lib/x86_64-linux-gnu)
## System dependencies are found with CMake's conventions ## System dependencies are found with CMake's conventions
find_package(Boost REQUIRED COMPONENTS system thread) find_package(Boost REQUIRED COMPONENTS system thread)
find_package(PkgConfig) find_package(PkgConfig)
@@ -64,12 +65,13 @@ include_directories(
include include
${catkin_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS}
${TF3_INCLUDE_DIR}
) )
## Declare a C++ library ## Declare a C++ library
add_library(${PROJECT_NAME}_converter src/tf_converter.cpp src/sensor_converter.cpp) add_library(${PROJECT_NAME}_converter src/tf_converter.cpp src/sensor_converter.cpp)
add_dependencies(${PROJECT_NAME}_converter ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) add_dependencies(${PROJECT_NAME}_converter ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(${PROJECT_NAME}_converter ${catkin_LIBRARIES} ${Boost_LIBRARIES}) target_link_libraries(${PROJECT_NAME}_converter ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${TF3_LIBRARY})
add_library(${PROJECT_NAME}_publisher src/amr_publiser.cpp) add_library(${PROJECT_NAME}_publisher src/amr_publiser.cpp)
add_dependencies(${PROJECT_NAME}_publisher ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) add_dependencies(${PROJECT_NAME}_publisher ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
@@ -137,6 +139,7 @@ target_link_libraries(${PROJECT_NAME}
${FreeOpcUa_LIBRARIES} ${FreeOpcUa_LIBRARIES}
${catkin_LIBRARIES} ${catkin_LIBRARIES}
${Boost_LIBRARIES} ${Boost_LIBRARIES}
${TF3_LIBRARY}
) )
target_link_libraries(${PROJECT_NAME}_node target_link_libraries(${PROJECT_NAME}_node

1
Controllers/Packages/amr_control/src/amr_publiser.cpp
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@@ -488,6 +488,7 @@ void AmrPublisher::publishLocalPlan()
return; return;
} }
robot::Duration age = now - plan_stamp; robot::Duration age = now - plan_stamp;
robot::Duration max_age(0.5); robot::Duration max_age(0.5);

2
Controllers/Packages/robot_description

Submodule Controllers/Packages/robot_description updated: 912f16eb74...2f829cfc46

2
pnkx_nav_core

Submodule pnkx_nav_core updated: 6e320bbe5c...3f3425228c