在ROS中使用树莓派读取GY-85 2 IMU read_GY-85_from_ROS_via_RarpberryPi 2

2018年02月23日 | ROS IMU GY-85

#上一篇讲了GY-85在ROS里面的读取，这里补上该PROJECT文件中的CMakelist.txt 和 package.xml 不一定完全正确，但是有编译需要的所以lib/ The pervious post is talking about the content of node c++ file. Here are the CMakelist.txt and package.xml file that related in the parent folder. These may not fully correct, but it give the catkin what needs for build.

1.package.xml

<?xml version="1.0"?>
<package format="2">
  <name>imu2core</name>
  <version>0.0.0</version>
  <description>The imu2core package</description>

  <!-- One maintainer tag required, multiple allowed, one person per tag -->
  <!-- Example:  -->
  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
  <maintainer email="rikirobot@todo.todo">rikirobot</maintainer>


  <!-- One license tag required, multiple allowed, one license per tag -->
  <!-- Commonly used license strings: -->
  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
  <license>BSD</license>


  <buildtool_depend>catkin</buildtool_depend>
  <build_depend>tf</build_depend>
  <build_depend>roscpp</build_depend>
  <build_depend>rospy</build_depend>
  <build_export_depend>tf</build_export_depend>
  <build_export_depend>roscpp</build_export_depend>
  <build_export_depend>rospy</build_export_depend>
  <exec_depend>roscpp</exec_depend>
  <exec_depend>rospy</exec_depend>
  <exec_depend>tf</exec_depend>
  <build_depend>wiringPi</build_depend>
  <build_export_depend>wiringPi</build_export_depend>
  <exec_depend>wiringPi</exec_depend>


  <!-- The export tag contains other, unspecified, tags -->
  <export>
    <!-- Other tools can request additional information be placed here -->

  </export>
</package>

CMakelist.txt

cmake_minimum_required(VERSION 2.8.3)
project(imu2core)

## Find catkin and any catkin packages
find_package(catkin REQUIRED COMPONENTS
  roscpp
  rosconsole
  tf
)
catkin_package()

include_directories(
  ${catkin_INCLUDE_DIRS}

)
FIND_LIBRARY(WIRINGPI_LIBRARY wiringPi /home/rikirobot/wiringPi)

add_executable(state_publisher src/state_publisher.cpp)
target_link_libraries(state_publisher ${catkin_LIBRARIES} ${WIRINGPI_LIBRARY} ${wiringPi})