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added installation rules #7

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added installation rules #7

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d9f0ce9
added installation rules
Aug 1, 2017
9ce178a
reduced verbosity
Aug 1, 2017
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14 changes: 14 additions & 0 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -61,3 +61,17 @@ target_link_libraries(rf2o_laser_odometry_node
${EIGEN_LIBRARIES}
${MRPT_LIBS}
)

#############
## Install ##
#############

install(TARGETS rf2o_laser_odometry_node
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

install(DIRECTORY launch
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
6 changes: 3 additions & 3 deletions src/CLaserOdometry2D.cpp
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Expand Up @@ -282,7 +282,7 @@ void CLaserOdometry2D::odometryCalculation()
}

m_runtime = 1000*m_clock.Tac();
ROS_INFO("Time odometry (ms): %f", m_runtime);
ROS_DEBUG("Time odometry (ms): %f", m_runtime);

//Update poses
PoseUpdate();
Expand Down Expand Up @@ -950,7 +950,7 @@ void CLaserOdometry2D::PoseUpdate()
kai_loc_old(2) = kai_abs(2);


ROS_INFO("LASERodom = [%f %f %f]",laser_pose.x(),laser_pose.y(),laser_pose.yaw());
ROS_DEBUG("LASERodom = [%f %f %f]",laser_pose.x(),laser_pose.y(),laser_pose.yaw());


// GET ROBOT POSE from LASER POSE
Expand Down Expand Up @@ -981,7 +981,7 @@ void CLaserOdometry2D::PoseUpdate()

//Compose Transformations
robot_pose = laser_pose + LaserPoseOnTheRobot_inv;
ROS_INFO("BASEodom = [%f %f %f]",robot_pose.x(),robot_pose.y(),robot_pose.yaw());
ROS_DEBUG("BASEodom = [%f %f %f]",robot_pose.x(),robot_pose.y(),robot_pose.yaw());


// Estimate linear/angular speeds (mandatory for base_local_planner)
Expand Down