velodyne_packet_pointcloud: Add new packet structure files

UniBwTAS · Aug 5, 2024 · 7cf4b10 · 7cf4b10
1 parent e68537e
commit 7cf4b10
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Showing 8 changed files with 150 additions and 0 deletions.
diff --git a/velodyne_packet_pointcloud/CMakeLists.txt b/velodyne_packet_pointcloud/CMakeLists.txt
@@ -0,0 +1,64 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(velodyne_packet_pointcloud)
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+set(${PROJECT_NAME}_CATKIN_DEPS
+    angles
+    nodelet
+    roscpp
+    roslib
+    sensor_msgs
+    tf2_ros
+    velodyne_driver
+    velodyne_msgs
+    ethernet_msgs
+    dynamic_reconfigure
+    diagnostic_updater
+)
+
+find_package(catkin REQUIRED COMPONENTS
+             ${${PROJECT_NAME}_CATKIN_DEPS}
+             roslint)
+
+find_package(Boost COMPONENTS signals)
+find_package(Eigen3 REQUIRED)
+# Resolve system dependency on yaml-cpp, which apparently does not
+# provide a CMake find_package() module.
+find_package(PkgConfig REQUIRED)
+pkg_check_modules(YAML_CPP REQUIRED yaml-cpp)
+find_path(YAML_CPP_INCLUDE_DIR
+          NAMES yaml_cpp.h
+          PATHS ${YAML_CPP_INCLUDE_DIRS})
+find_library(YAML_CPP_LIBRARY
+             NAMES YAML_CPP
+             PATHS ${YAML_CPP_LIBRARY_DIRS})
+
+link_directories(${YAML_CPP_LIBRARY_DIRS})
+
+#generate_dynamic_reconfigure_options(
+#)
+
+if(NOT ${YAML_CPP_VERSION} VERSION_LESS "0.5")
+  add_definitions(-DHAVE_NEW_YAMLCPP)
+endif(NOT ${YAML_CPP_VERSION} VERSION_LESS "0.5")
+
+include_directories(include ${catkin_INCLUDE_DIRS}
+  ${EIGEN3_INCLUDE_DIR}
+)
+
+catkin_package(
+    CATKIN_DEPENDS ${${PROJECT_NAME}_CATKIN_DEPS}
+    INCLUDE_DIRS include
+    LIBRARIES velodyne_rawdata data_containers)
+
+add_subdirectory(src)
+
+
+install(DIRECTORY include/${PROJECT_NAME}/
+        DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
+
+
+
+
diff --git a/velodyne_packet_pointcloud/include/unpacker.h b/velodyne_packet_pointcloud/include/unpacker.h
@@ -0,0 +1,8 @@
+//
+// Created by jugo on 05.08.24.
+//
+
+#ifndef VELODYNE_POINTCLOUD_UNPACKER_H
+#define VELODYNE_POINTCLOUD_UNPACKER_H
+
+#endif //VELODYNE_POINTCLOUD_UNPACKER_H
diff --git a/velodyne_packet_pointcloud/nodelets.xml b/velodyne_packet_pointcloud/nodelets.xml
@@ -0,0 +1,14 @@
+<class_libraries>
+
+  <library path="lib/libpacketpc_nodelet">
+    <class name="velodyne_packet_pointcloud/PacketpcNodelet"
+           type="velodyne_packet_pointcloud::PacketpcNodelet"
+           base_class_type="nodelet::Nodelet">
+      <description>
+        Transforms packets into PointCloud2 and publish them as they arrive.
+      </description>
+    </class>
+  </library>
+
+
+</class_libraries>
diff --git a/velodyne_packet_pointcloud/package.xml b/velodyne_packet_pointcloud/package.xml
@@ -0,0 +1,42 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>velodyne_packet_pointcloud</name>
+  <version>1.6.1</version>
+  <description>
+    Packet comvertion to Pointcloud2 for VLS128 Velodyne.
+  </description>
+  <maintainer email="[email protected]">Juan D. González</maintainer>
+  <author>Juan D. González</author>
+
+  <license>BSD</license>
+
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>roslint</build_depend>
+
+  <depend>angles</depend>
+  <depend>nodelet</depend>
+  <depend>roscpp</depend>
+  <depend>roslib</depend>
+  <depend>sensor_msgs</depend>
+  <depend>tf2_ros</depend>
+  <depend>velodyne_driver</depend>
+  <depend>velodyne_msgs</depend>
+  <depend>ethernet_msgs</depend>
+  <depend>yaml-cpp</depend>
+  <depend>dynamic_reconfigure</depend>
+  <depend>diagnostic_updater</depend>
+  <depend>eigen</depend>
+
+  <exec_depend>velodyne_laserscan</exec_depend>
+
+  <test_depend>rosunit</test_depend>
+  <test_depend>roslaunch</test_depend>
+  <test_depend>rostest</test_depend>
+  <test_depend>tf2_ros</test_depend>
+
+  <export>
+    <nodelet plugin="${prefix}/nodelets.xml"/>
+  </export>
+</package>
diff --git a/velodyne_packet_pointcloud/src/CMakeLists.txt b/velodyne_packet_pointcloud/src/CMakeLists.txt
@@ -0,0 +1,13 @@
+add_executable(packetpc_node packetpc_node.cpp unpacker.cpp)
+target_link_libraries(packetpc_node
+        ${catkin_LIBRARIES}
+        ${YAML_CPP_LIBRARIES}
+)
+add_dependencies(packetpc_node ${PROJECT_NAME}_gencfg)
+
+
+add_library(packetpc_nodelet packetpc_nodelet.cpp unpacker.cpp)
+target_link_libraries(packetpc_nodelet
+        ${catkin_LIBRARIES}
+        ${YAML_CPP_LIBRARIES})
+add_dependencies(packetpc_nodelet ${PROJECT_NAME}_gencfg)
diff --git a/velodyne_packet_pointcloud/src/packetpc_node.cpp b/velodyne_packet_pointcloud/src/packetpc_node.cpp
@@ -0,0 +1,3 @@
+//
+// Created by jugo on 05.08.24.
+//
diff --git a/velodyne_packet_pointcloud/src/packetpc_nodelet.cpp b/velodyne_packet_pointcloud/src/packetpc_nodelet.cpp
@@ -0,0 +1,3 @@
+//
+// Created by jugo on 05.08.24.
+//
diff --git a/velodyne_packet_pointcloud/src/unpacker.cpp b/velodyne_packet_pointcloud/src/unpacker.cpp
@@ -0,0 +1,3 @@
+//
+// Created by jugo on 05.08.24.
+//