why

src/beacon_positioning/CMakeLists.txt

@@ -24,14 +24,16 @@ find_package(rclcpp REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(positioning_systems_api REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
-#find_package(beacon_positioning REQUIRED)
+find_package(beacon_positioning REQUIRED)
 
 rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/TrackerPosition.msg" # message for tracker position
 )
 
 add_executable(tracker_position src/tracker_position.cpp)
-ament_target_dependencies(tracker_position rclcpp std_msgs)
+ament_target_dependencies(tracker_position rclcpp std_msgs
+	beacon_positioning
+)
 
 target_link_libraries(tracker_position
   positioning_systems_api::serial_communication

src/height/src/height_reader.cpp

@@ -63,18 +63,20 @@ private:
   {
     auto msg = height::msg::HeightData();
 
-    float min = 10000000;
+    float min = 255;
     terabee::DistanceData distance_data = evo_mini->getDistance();
     for (size_t i = 0; i < distance_data.size(); i++)
     {
       msg.heights[i] = distance_data.distance[i];
-      if (distance_data.distance[i] < min)
+      if (distance_data.distance[i] < min && distance_data.distance[i] >= 0)
       {
         min = distance_data.distance[i];
       }
     }
     msg.min_height = min;
     publisher_->publish(msg);
+
+    RCLCPP_INFO(this->get_logger(),"publishing message with min distance %f",msg.min_height);
   }
 
   rclcpp::TimerBase::SharedPtr timer_;

src/object_detection/CMakeLists.txt

@@ -31,13 +31,17 @@ rosidl_generate_interfaces(${PROJECT_NAME}
  )
 
 add_executable(lidar_reader src/lidar_reader.cpp)
-ament_target_dependencies(lidar_reader rclcpp)
+ament_target_dependencies(lidar_reader rclcpp 
+#	object_detection
+)
 
 target_link_libraries(lidar_reader ${TerabeeApi_LIBRARIES})
 target_include_directories(lidar_reader PUBLIC ${TerabeeApi_INCLUDE_DIRS})
 
 add_executable(multiflex_reader src/multiflex_reader.cpp)
-ament_target_dependencies(multiflex_reader rclcpp)
+ament_target_dependencies(multiflex_reader rclcpp 
+#	object_detection
+)
 
 target_link_libraries(multiflex_reader ${TerabeeApi_LIBRARIES})
 target_include_directories(multiflex_reader PUBLIC ${TerabeeApi_INCLUDE_DIRS})