sem/5g_drone_ROS2
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Sem van der Hoeven
2023-04-24 15:41:11 +00:00
parent 09cda4e1d0
commit 48b5016897
3 changed files with 14 additions and 6 deletions
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6
src/beacon_positioning/CMakeLists.txt
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@@ -24,14 +24,16 @@ find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED) find_package(std_msgs REQUIRED)
find_package(positioning_systems_api REQUIRED) find_package(positioning_systems_api REQUIRED)
find_package(rosidl_default_generators REQUIRED) find_package(rosidl_default_generators REQUIRED)
#find_package(beacon_positioning REQUIRED) find_package(beacon_positioning REQUIRED)
rosidl_generate_interfaces(${PROJECT_NAME} rosidl_generate_interfaces(${PROJECT_NAME}
"msg/TrackerPosition.msg" # message for tracker position "msg/TrackerPosition.msg" # message for tracker position
) )
add_executable(tracker_position src/tracker_position.cpp) 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 target_link_libraries(tracker_position
positioning_systems_api::serial_communication positioning_systems_api::serial_communication

6
src/height/src/height_reader.cpp
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@@ -63,18 +63,20 @@ private:
{ {
auto msg = height::msg::HeightData(); auto msg = height::msg::HeightData();
float min = 10000000; float min = 255;
terabee::DistanceData distance_data = evo_mini->getDistance(); terabee::DistanceData distance_data = evo_mini->getDistance();
for (size_t i = 0; i < distance_data.size(); i++) for (size_t i = 0; i < distance_data.size(); i++)
{ {
msg.heights[i] = distance_data.distance[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]; min = distance_data.distance[i];
} }
} }
msg.min_height = min; msg.min_height = min;
publisher_->publish(msg); publisher_->publish(msg);
RCLCPP_INFO(this->get_logger(),"publishing message with min distance %f",msg.min_height);
} }
rclcpp::TimerBase::SharedPtr timer_; rclcpp::TimerBase::SharedPtr timer_;

8
src/object_detection/CMakeLists.txt
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@@ -31,13 +31,17 @@ rosidl_generate_interfaces(${PROJECT_NAME}
) )
add_executable(lidar_reader src/lidar_reader.cpp) 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_link_libraries(lidar_reader ${TerabeeApi_LIBRARIES})
target_include_directories(lidar_reader PUBLIC ${TerabeeApi_INCLUDE_DIRS}) target_include_directories(lidar_reader PUBLIC ${TerabeeApi_INCLUDE_DIRS})
add_executable(multiflex_reader src/multiflex_reader.cpp) 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_link_libraries(multiflex_reader ${TerabeeApi_LIBRARIES})
target_include_directories(multiflex_reader PUBLIC ${TerabeeApi_INCLUDE_DIRS}) target_include_directories(multiflex_reader PUBLIC ${TerabeeApi_INCLUDE_DIRS})