From 48b501689784a0edff40054585a54a1e0938f8d6 Mon Sep 17 00:00:00 2001 From: Sem van der Hoeven Date: Mon, 24 Apr 2023 15:41:11 +0000 Subject: [PATCH] why --- src/beacon_positioning/CMakeLists.txt | 6 ++++-- src/height/src/height_reader.cpp | 6 ++++-- src/object_detection/CMakeLists.txt | 8 ++++++-- 3 files changed, 14 insertions(+), 6 deletions(-) diff --git a/src/beacon_positioning/CMakeLists.txt b/src/beacon_positioning/CMakeLists.txt index 480f22e6..8ce3803a 100644 --- a/src/beacon_positioning/CMakeLists.txt +++ b/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(${PROJECT_NAME} "msg/TrackerPosition.msg" # message for tracker position ) add_executable(tracker_position src/tracker_position.cpp) -ament_target_dependencies(tracker_position rclcpp std_msgs) +ament_target_dependencies(tracker_position rclcpp std_msgs + beacon_positioning +) target_link_libraries(tracker_position positioning_systems_api::serial_communication diff --git a/src/height/src/height_reader.cpp b/src/height/src/height_reader.cpp index 84662f9f..d8f70b06 100644 --- a/src/height/src/height_reader.cpp +++ b/src/height/src/height_reader.cpp @@ -63,18 +63,20 @@ private: { auto msg = height::msg::HeightData(); - float min = 10000000; + float min = 255; terabee::DistanceData distance_data = evo_mini->getDistance(); for (size_t i = 0; i < distance_data.size(); i++) { msg.heights[i] = distance_data.distance[i]; - if (distance_data.distance[i] < min) + if (distance_data.distance[i] < min && distance_data.distance[i] >= 0) { min = distance_data.distance[i]; } } msg.min_height = min; publisher_->publish(msg); + + RCLCPP_INFO(this->get_logger(),"publishing message with min distance %f",msg.min_height); } rclcpp::TimerBase::SharedPtr timer_; diff --git a/src/object_detection/CMakeLists.txt b/src/object_detection/CMakeLists.txt index 35d60383..9c705f64 100644 --- a/src/object_detection/CMakeLists.txt +++ b/src/object_detection/CMakeLists.txt @@ -31,13 +31,17 @@ rosidl_generate_interfaces(${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})