getting_started:ros
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getting_started:ros [2018/08/31 14:46] – gehrig | getting_started:ros [2021/03/29 15:27] – ursgraf | ||
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===== Preparations and Building ===== | ===== Preparations and Building ===== | ||
ROS needs to be installed on the developer machine as well as on the target machine. | ROS needs to be installed on the developer machine as well as on the target machine. | ||
- | Before a ROS application can be started, you need to run the '' | + | Before a ROS application can be started, you need to run the '' |
+ | < | ||
+ | source / | ||
+ | </ | ||
The same applies for building the EEROS library with ROS support and for building an EEROS application with ROS support. \\ | The same applies for building the EEROS library with ROS support and for building an EEROS application with ROS support. \\ | ||
IMPORTANT If an integrated development environment such as '' | IMPORTANT If an integrated development environment such as '' | ||
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An example of a cmake call could look like this:\\ | An example of a cmake call could look like this:\\ | ||
'' | '' | ||
+ | Our build scripts already include this switch. | ||
- | === Building an EEROS application with ROS functionality | + | ===== Example for Making your EEROS Application a ROS Node ===== |
The CMAKE file for the EEROS application using ROS has to be expanded as follows: | The CMAKE file for the EEROS application using ROS has to be expanded as follows: | ||
< | < | ||
- | cmake_minimum_required(VERSION | + | cmake_minimum_required(VERSION |
project(testProject) | project(testProject) | ||
+ | set(CMAKE_CXX_STANDARD 14) | ||
+ | |||
## ROS | ## ROS | ||
message(STATUS " | message(STATUS " | ||
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include_directories(${EEROS_INCLUDE_DIR}; | include_directories(${EEROS_INCLUDE_DIR}; | ||
link_directories(${EEROS_LIB_DIR}; | link_directories(${EEROS_LIB_DIR}; | ||
- | |||
- | set(CMAKE_CXX_FLAGS " | ||
add_executable(testProject main.cpp) | add_executable(testProject main.cpp) | ||
Line 61: | Line 66: | ||
</ | </ | ||
- | ===== Make your EEROS Application a ROS Node ===== | + | Your test program might look like |
- | Initialize the ROS node in your main function and give it a name. | + | |
<code cpp> | <code cpp> | ||
- | | + | #include < |
| | ||
- | | + | int main(int argc, char **argv) { |
- | ... | + | ... |
- | rosTools:: | + | rosTools:: |
+ | ros:: | ||
log.trace() << "ROS node initialized."; | log.trace() << "ROS node initialized."; | ||
... | ... |
getting_started/ros.txt · Last modified: 2023/02/09 12:04 by ursgraf