我自己的ROS包我试图让自己的ROS包上Gumstix Overo工作。该项目的最终目标是从Caspa(相机)中获取图像并用ROS进行流式处理。为此,我在Yocto项目中取得了最大的成功:Pocky,它使用BitBake交叉编译工具链。为此,我按照GitHub的README.md中的说明进行操作:https://github.com/gumstix/Gumstix-YoctoProject-Repo获取有关Gumstix overo(BitBake的Yocto计划)
仅供参考,实际闪烁和安装的说明在官方Gumstix网站上更加清楚。
我是成功的,在所有的ROS元和额外使用以下命令编译BitBake的项目:
$ bitbake gumstix-console-image
(需要相当长一段时间,很多很多的磁盘空间),后来,闪烁,安装。
这里是我的包,我试图编译:https://github.com/elikos/groundStationPublic我试图保持文件夹尽可能简单,以限制潜在的路径问题,所以一切都在基地目录...(非常丑,我知道)
这里是我的CMakelist.txt:
cmake_minimum_required(VERSION 2.8.3)
project(groundStationPublic)
## Find catkin and any catkin packages
find_package(catkin REQUIRED COMPONENTS cv_bridge image_transport roscpp rospy std_msgs genmsg)
find_package(OpenCV REQUIRED)
## Declare ROS messages and services
#add_message_files(FILES Num.msg)
#add_service_files(FILES AddTwoInts.srv)
## Generate added messages and services
#generate_messages(DEPENDENCIES std_msgs)
## Declare a catkin package
catkin_package()
include_directories(include ${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS})
add_executable(talker talker.cpp)
target_link_libraries(talker ${catkin_LIBRARIES})
#add_dependencies(talker beginner_tutorials_generate_messages_cpp)
add_executable(listener listener.cpp)
target_link_libraries(listener ${catkin_LIBRARIES})
#add_dependencies(listener beginner_tutorials_generate_messages_cpp)
add_executable(cornerDetection main.cpp ConerDetection.cpp LineDetection.cpp ImagePublisher.cpp)
target_link_libraries(cornerDetection ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
add_executable(bonPublisher bonPublisher.cpp)
target_link_libraries(bonPublisher ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
这里是我的包BitBake的食谱:
DESCRIPTION = "Elikos groundstation code."
SECTION = "devel"
LICENSE = "BSD"
LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=d566ef916e9dedc494f5f793a6690ba5"
DEPENDS = "roscpp rospy catkin std-msgs"
RDEPENDS_${PN} = "roscpp rospy std-msgs"
SRC_URI = "git://github.com/elikos/groundStationPublic.git"
SRCREV = "${AUTOREV}"
PV = "1.0.0+gitr${SRCPV}"
S = "${WORKDIR}/git"
inherit catkin
ROS_SPN = "groundStationPublic"
我已经找到了它~/yocto/poky/meta-ros/recipes-ros/groundStationPublic
如果我执行命令bitbake groundStationPublic
,一切编译罚款。没有错误。 (你可能会从x264_git一个错误,但正确的sourcerev是:SRCREV = “ffc3ad4945da69f3caa2b40e4eed715a9a8d9526”)
最后,我的问题是:
- 哪里是我的包在图像中位于?
- 这不是在
/usr/share/
像我希望它是...
- 这不是在
- 我如何运行我的包,如果rosrun无法找到它? (可能是因为它根本不存在)
- 我希望它不会停像
rosrun groundStationPublic talker
- 我希望它不会停像