cmake_minimum_required(VERSION 2.8.3)
project(sweep_robot)
set(CMAKE_CXX_FLAGS "-std=c++11")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -O3 -march=native ")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3 -march=native")
# Check C++11 or C++0x support
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
add_definitions(-DCOMPILEDWITHC11)
message(STATUS "Using flag -std=c++11.")
elseif(COMPILER_SUPPORTS_CXX0X)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
add_definitions(-DCOMPILEDWITHC0X)
message(STATUS "Using flag -std=c++0x.")
else()
message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()
# 添加c++ 11标准支持
set( CMAKE_CXX_FLAGS "-std=c++11" )
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
find_package(catkin REQUIRED COMPONENTS
cv_bridge
geometry_msgs
image_transport
nav_msgs
pcl_conversions
pcl_ros
roscpp
rospy
sensor_msgs
serial
std_msgs
tf
)
# 寻找OpenCV库
find_package( OpenCV 3 REQUIRED)
# 添加头文件
catkin_package(
CATKIN_DEPENDS
serial
std_msgs
)
include_directories(
include
srv
msg
${catkin_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
$(Eigen_INCLUDE_DIRS)
)
set(sweepRobot_srclib
src/crc.cpp
src/command.cpp
src/myRobot.cpp
src/imagePro.cpp
node/control.cpp
src/utility.cpp
)
add_library(${PROJECT_NAME} ${sweepRobot_srclib} )
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${OpenCV_LIBS})
add_executable( stereo_cali_node src/stereo_cali.cpp)
target_link_libraries( stereo_cali_node
${catkin_LIBRARIES}
${PROJECT_NAME}
)
add_executable( sweepRobotnode node/main.cpp)
target_link_libraries( sweepRobotnode
${catkin_LIBRARIES}
${PROJECT_NAME}
)
add_executable( keyboard_node node/keyboard.cpp)
target_link_libraries( keyboard_node
${catkin_LIBRARIES}
${PROJECT_NAME}
)
add_executable( stereo_vo_node node/stereo_vo.cpp)
target_link_libraries( stereo_vo_node
${catkin_LIBRARIES}
${OpenCV_LIBS}
${PROJECT_NAME}
)
add_executable( odometer_node src/odometer.cpp)
target_link_libraries( odometer_node
${catkin_LIBRARIES}
${OpenCV_LIBS}
${PROJECT_NAME}
)
add_executable( control_node node/control.cpp)
target_link_libraries( control_node
${catkin_LIBRARIES}
${OpenCV_LIBS}
${PROJECT_NAME}
)
add_executable( modifyROSbag_node src/modifyROSbag.cpp)
target_link_libraries( modifyROSbag_node
${catkin_LIBRARIES}
${OpenCV_LIBS}
${PROJECT_NAME}
)
add_executable( viconSub_node node/viconSub.cpp)
target_link_libraries( viconSub_node
${catkin_LIBRARIES}
${PROJECT_NAME}
)
add_executable( odoAcc_node src/odoAcc.cpp)
target_link_libraries( odoAcc_node
${catkin_LIBRARIES}
${PROJECT_NAME}
)
add_executable( imu_odo_frombag src/imu_odo_frombag.cc)
target_link_libraries( imu_odo_frombag
${catkin_LIBRARIES}
${PROJECT_NAME}
)
扫地机器人平台控制与数据采集.zip
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2023-12-29
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扫地机器人平台控制与数据采集.zip （37个子文件） 
sweep_robot-master include 
command.h 421B utility.h 167B global.h 3KB keyboard.h 129B imagePro.h 284B odometer.h 110B viconSub.h 110B myRobot.h 3KB crc.h 361B
CMakeLists.txt 3KB src odometer.cpp 4KB imu_odo_frombag.cc 10KB odoAcc.cpp 6KB modifyROSbag.cpp 2KB crc.cpp 5KB command.cpp 14KB stereo_cali.cpp 4KB myRobot.cpp 10KB imagePro.cpp 2KB utility.cpp 1KB package.xml 4KB launch others robotIMU.launch 356B test_serial.launch 816B robotVO.launch 669B camerIMUCali.launch 723B odo.launch 1KB odoAcc.launch 1KB modifybag.launch 587B rviz.launch 254B record_dataset.launch 2KB my.rviz 5KB .gitignore 431B node keyboard.cpp 1KB stereo_vo.cpp 9KB control.cpp 4KB viconSub.cpp 1KB main.cpp 6KB资源评论
