ros2 c++实现JY-95T IMU解算三轴 加速度 角速度 欧拉角 磁力计 四元数

cmake_minimum_required(VERSION 3.5) project(imu_get_cpp) # Default to C99 if(NOT CMAKE_C_STANDARD) set(CMAKE_C_STANDARD 99) endif() # 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 dependencies find_package(ament_cmake REQUIRED) find_package(rclcpp REQUIRED) find_package(std_msgs REQUIRED) find_package(serial REQUIRED) find_package(sensor_msgs REQUIRED) find_package(rosidl_default_generators REQUIRED) #find_package(geometry_msgs) find_package(nav_msgs REQUIRED) find_package(tf2_ros REQUIRED) find_package(tf2_msgs REQUIRED) find_package(tf2_geometry_msgs REQUIRED) # uncomment the following section in order to fill in # further dependencies manually. # find_package(<dependency> REQUIRED) add_executable(publisher_imu_node src/publisher_imu.cpp src/transform.hpp) ament_target_dependencies(publisher_imu_node rclcpp std_msgs) ament_target_dependencies(publisher_imu_node rclcpp serial) ament_target_dependencies(publisher_imu_node rclcpp sensor_msgs) ament_target_dependencies(publisher_imu_node rclcpp rosidl_default_generators) ament_target_dependencies(publisher_imu_node rclcpp nav_msgs) ament_target_dependencies(publisher_imu_node rclcpp tf2_ros) ament_target_dependencies(publisher_imu_node rclcpp tf2_msgs) ament_target_dependencies(publisher_imu_node rclcpp tf2_geometry_msgs) install(TARGETS publisher_imu_node DESTINATION lib/${PROJECT_NAME}) if(BUILD_TESTING) find_package(ament_lint_auto REQUIRED) # the following line skips the linter which checks for copyrights # uncomment the line when a copyright and license is not present in all source files #set(ament_cmake_copyright_FOUND TRUE) # the following line skips cpplint (only works in a git repo) # uncomment the line when this package is not in a git repo #set(ament_cmake_cpplint_FOUND TRUE) ament_lint_auto_find_test_dependencies() endif() ament_package()