cartographer+navigation定位及里程计调试实验记录(一)

## Compile as C++11, supported in ROS Kinetic and newer# add_compile_options(-std=c++11)## Find catkin macros and libraries## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)## is used, also find other catkin packagesfind_package(catkin REQUIRED COMPONENTS geometry_msgs roscpp cartographer_ros_msgs tf)## System dependencies are found with CMake's conventions# find_package(Boost REQUIRED COMPONENTS system)## Uncomment this if the package has a . This macro ensures## modules and global scripts declared therein get installed## See /doc/api/catkin/html/user_guide/setup_dot_# catkin_python_setup()################################################## Declare ROS messages, services and actions #################################################### To declare and build messages, services or actions from within this## package, follow these steps:## * Let MSG_DEP_SET be the set of packages whose message types you use in## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).## * In the file :## * add a build_depend tag for "message_generation"## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET## * If MSG_DEP_SET isn't empty the following dependency has been pulled in## but can be declared for certainty nonetheless:## * add a exec_depend tag for "message_runtime"## * In this file ():## * add "message_generation" and every package in MSG_DEP_SET to## find_package(catkin REQUIRED COMPONENTS ...)## * add "message_runtime" and every package in MSG_DEP_SET to## catkin_package(CATKIN_DEPENDS ...)## * uncomment the add_*_files sections below as needed## and list every .msg/.srv/.action file to be processed## * uncomment the generate_messages entry below## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)## Generate messages in the 'msg' folder# add_message_files(# FILES# # # )## Generate services in the 'srv' folder# add_service_files(# FILES# # # )## Generate actions in the 'action' folder# add_action_files(# FILES# # # )

# )## Generate added messages and services with any dependencies listed here# generate_messages(# DEPENDENCIES# geometry_msgs# )################################################## Declare ROS dynamic reconfigure parameters #################################################### To declare and build dynamic reconfigure parameters within this## package, follow these steps:## * In the file :## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"## * In this file ():## * add "dynamic_reconfigure" to## find_package(catkin REQUIRED COMPONENTS ...)## * uncomment the "generate_dynamic_reconfigure_options" section below## and list every .cfg file to be processed## Generate dynamic reconfigure parameters in the 'cfg' folder# generate_dynamic_reconfigure_options(# cfg/# cfg/# )##################################### catkin specific configuration ####################################### The catkin_package macro generates cmake config files for your package## Declare things to be passed to dependent projects## INCLUDE_DIRS: uncomment this if your package contains header files## LIBRARIES: libraries you create in this project that dependent projects also need## CATKIN_DEPENDS: catkin_packages dependent projects also need## DEPENDS: system dependencies of this project that dependent projects also needcatkin_package(# INCLUDE_DIRS include# LIBRARIES initial_pose_set CATKIN_DEPENDS geometry_msgs roscpp cartographer_ros_msgs tf# DEPENDS system_lib

)############# Build ############### Specify additional locations of header files## Your package locations should be listed before other locationsinclude_directories(# include ${catkin_INCLUDE_DIRS})## Declare a C++ library# add_library(${PROJECT_NAME}# src/${PROJECT_NAME}/initial_pose_# )## Add cmake target dependencies of the library## as an example, code may need to be generated before libraries## either from message generation or dynamic reconfigure# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})## Declare a C++ executable

## Declare a C++ executable## With catkin_make all packages are built within a single CMake context## The recommended prefix ensures that target names across packages don't collideadd_executable(${PROJECT_NAME} src/initial_pose_)## Rename C++ executable without prefix## The above recommended prefix causes long target names, the following renames the## target back to the shorter version for ease of user use## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")## Add cmake target dependencies of the executable## same as for the library aboveadd_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})## Specify libraries to link a library or executable target againsttarget_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})############### Install ################ all install targets should use catkin DESTINATION variables# See /doc/api/catkin/html/adv_user_guide/## Mark executable scripts (Python etc.) for installation## in contrast to , you can choose the destination# catkin_install_python(PROGRAMS# scripts/my_python_script# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}# )## Mark executables for installation## See /melodic/api/catkin/html/howto/format1/building_# install(TARGETS ${PROJECT_NAME}_node# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}# )## Mark libraries for installation## See /melodic/api/catkin/html/howto/format1/building_# install(TARGETS ${PROJECT_NAME}# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}# )## Mark cpp header files for installation# install(DIRECTORY include/${PROJECT_NAME}/# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}# FILES_MATCHING PATTERN "*.h"# PATTERN ".svn" EXCLUDE# )## Mark other files for installation (e.g. launch and bag files, etc.)# install(FILES# # myfile1# # myfile2# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}# )############### Testing ###############