From 8f733b5ea1c731f94771e8b8ff5cc12862d110e9 Mon Sep 17 00:00:00 2001
From: Franz Bethke <bethke@math.hu-berlin.de>
Date: Mon, 12 Feb 2018 14:30:35 +0100
Subject: [PATCH] Add nodlet for camera
---
modules/catkin_ws/src/car/CMakeLists.txt | 6 ++++++
.../src/car/include/environment/environment.h | 3 +++
modules/catkin_ws/src/car/launch/fullstart.launch | 1 +
modules/catkin_ws/src/car/plugins/nodelet_plugins.xml | 10 ++++++++++
.../catkin_ws/src/car/src/environment/environment.cpp | 11 ++++++++---
5 files changed, 28 insertions(+), 3 deletions(-)
diff --git a/modules/catkin_ws/src/car/CMakeLists.txt b/modules/catkin_ws/src/car/CMakeLists.txt
index 4bdfad45..5633fb5e 100644
--- a/modules/catkin_ws/src/car/CMakeLists.txt
+++ b/modules/catkin_ws/src/car/CMakeLists.txt
@@ -33,6 +33,7 @@ catkin_package(
LIBRARIES main_node
LIBRARIES environment
LIBRARIES ultrasonic
+ LIBRARIES camera
CATKIN_DEPENDS roscpp std_msgs nodelet rospy #message_runtime
)
@@ -53,11 +54,16 @@ add_library(ultrasonic src/ultrasonic/ultrasonic.cpp)
add_dependencies(ultrasonic ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)
target_link_libraries(ultrasonic ${catkin_LIBRARIES})
+add_library(camera src/camera/camera.cpp)
+add_dependencies(camera ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)
+target_link_libraries(camera ${catkin_LIBRARIES})
+
install(
TARGETS
main_node
environment
ultrasonic
+ camera
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
diff --git a/modules/catkin_ws/src/car/include/environment/environment.h b/modules/catkin_ws/src/car/include/environment/environment.h
index 29d948e0..58e7ab68 100644
--- a/modules/catkin_ws/src/car/include/environment/environment.h
+++ b/modules/catkin_ws/src/car/include/environment/environment.h
@@ -3,7 +3,9 @@
#include <nodelet/nodelet.h>
#include <ros/ros.h>
+
#include "car/ussDataMsg.h"
+#include "car/camDataMsg.h"
namespace car
{
@@ -27,6 +29,7 @@ namespace car
void ussDataCallback(const ussDataMsg::ConstPtr& inMsg);
+ void camDataCallback(const camDataMsg::ConstPtr& inMsg);
};
}
#endif
diff --git a/modules/catkin_ws/src/car/launch/fullstart.launch b/modules/catkin_ws/src/car/launch/fullstart.launch
index ec74c6bc..a0971bf8 100644
--- a/modules/catkin_ws/src/car/launch/fullstart.launch
+++ b/modules/catkin_ws/src/car/launch/fullstart.launch
@@ -6,6 +6,7 @@
<node pkg="nodelet" type="nodelet" name="nodelet_main_node" args="load car/main_node Master"/>
<node pkg="nodelet" type="nodelet" name="nodelet_environment" args="load car/environment Master"/>
<node pkg="nodelet" type="nodelet" name="nodelet_ultrasonic" args="load car/ultrasonic Master"/>
+ <node pkg="nodelet" type="nodelet" name="nodelet_camera" args="load car/camera Master"/>
</launch>
<!--
diff --git a/modules/catkin_ws/src/car/plugins/nodelet_plugins.xml b/modules/catkin_ws/src/car/plugins/nodelet_plugins.xml
index 0767fe03..38af8257 100644
--- a/modules/catkin_ws/src/car/plugins/nodelet_plugins.xml
+++ b/modules/catkin_ws/src/car/plugins/nodelet_plugins.xml
@@ -33,3 +33,13 @@
</description>
</class>
</library>
+
+<library path="lib/libcamera">
+ <class name="car/camera"
+ type="car::Camera"
+ base_class_type="nodelet::Nodelet">
+ <description>
+ Missing
+ </description>
+ </class>
+</library>
diff --git a/modules/catkin_ws/src/car/src/environment/environment.cpp b/modules/catkin_ws/src/car/src/environment/environment.cpp
index 63934b43..b1b7e684 100644
--- a/modules/catkin_ws/src/car/src/environment/environment.cpp
+++ b/modules/catkin_ws/src/car/src/environment/environment.cpp
@@ -26,9 +26,7 @@ namespace car
NODELET_INFO("Environment::onInit -- START");
environmentData = nh_.advertise<environmentDataMsg>("environmentData", 1);
ussData = nh_.subscribe("ussData", 1, &Environment::ussDataCallback, this);
-
-
- // CODE GOES HERE
+ camData = nh_.subscribe("camData", 1, &Environment::camDataCallback, this);
NODELET_INFO("Environment::onInit -- END");
}
@@ -44,4 +42,11 @@ namespace car
environmentData.publish(outMsg);
}
+
+ void Environment::camDataCallback(const camDataMsg::ConstPtr& inMsg)
+ {
+ std::cout << "Environment recived new cam data ( ).\n";
+ }
+
+
}
--
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