add:ros2 framework build

Author: KingRichord

example/GigeCam/CMakeLists.txt

@@ -34,18 +34,39 @@ if (NOT rclcpp_FOUND)
     message(STATUS "rclcpp not found. ros2 demo will not be built")
 else ()
     message(STATUS "rclcpp found. ros2 demo will be built")
+    find_package(ament_cmake REQUIRED)
+    find_package(std_msgs REQUIRED)
+    find_package(sensor_msgs REQUIRED)
+    find_package(image_transport REQUIRED)
+    find_package(OpenCV REQUIRED)
+    find_package(cv_bridge REQUIRED)
     add_executable(${PROJECT_NAME}_ros2
             main_ros2.cpp
             mv_cam.cpp
             mv_cam.h
     )
     target_link_directories(${PROJECT_NAME}_ros2 PRIVATE ${MVCAM_LIB_DIR})
-    target_include_directories(${PROJECT_NAME}_ros2 PUBLIC mvcam/include)
-    target_link_libraries(${PROJECT_NAME}_ros2 PRIVATE
+    target_include_directories(${PROJECT_NAME}_ros2 PUBLIC mvcam/include ${OpenCV_INCLUDE_DIRS})
+    target_link_libraries(${PROJECT_NAME}_ros2
             infinite_sense_core
+            ${OpenCV_LIBRARIES}
             MvCameraControl
-            rclcpp::rclcpp
     )
+    set(CMAKE_BUILD_WITH_INSTALL_RPATH TRUE)
+    set(CMAKE_INSTALL_RPATH ${MVS_LIBRARIES})
+    ament_target_dependencies(${PROJECT_NAME}_ros2
+            rclcpp
+            std_msgs
+            sensor_msgs
+            image_transport
+            OpenCV
+            cv_bridge
+    )
+    install(TARGETS ${PROJECT_NAME}_ros2
+            DESTINATION lib/${PROJECT_NAME}
+    )
+    ament_package()
+
 endif ()
 # **************************编译ROS1节点*****************************
 find_package(catkin QUIET)

example/GigeCam/main_ros2.cpp

@@ -1,40 +1,27 @@
-#include "rclcpp/rclcpp.hpp"
-// 加入SDK头文件
 #include "infinite_sense.h"
-// 加入工业相机头文件
-#include "mv_cam.h"
-using namespace infinite_sense;
-// 自定义回调函数
-void ImuCallback(const void* msg, size_t) {
-  const auto* imu_data = static_cast<const ImuData*>(msg);
-  // 处理IMU数据
-}
-// 自定义回调函数
-void ImageCallback(const void* msg, size_t) {
-  const auto* cam_data = static_cast<const CamData*>(msg);
-  // 处理图像数据
-}
-int main() {
-  // 1.创建同步器
-  Synchronizer synchronizer;
-  synchronizer.SetUsbLink("/dev/ttyACM0", 921600);
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/string.hpp"
+#include "sensor_msgs/msg/image.hpp"
+#include "sensor_msgs/image_encodings.hpp"
+#include <image_transport/image_transport.hpp>
+#include "opencv2/highgui/highgui.hpp"
+#include <opencv2/imgproc.hpp>
+class InfiniteSenseGigeDriver : public rclcpp::Node {
+ public:
+  InfiniteSenseGigeDriver() : Node("gige_driver"),node_handle_(),transport_(node_handle_),img_pub_(transport_.advertise("camera/image_raw", 1)) {
 
-  // 2.配置同步接口
-  auto mv_cam = std::make_shared<MvCam>();
-  mv_cam->SetParams({{"camera_1", CAM_1}});
-  synchronizer.UseSensor(mv_cam);
+  }
+ private:
+  rclcpp::Node::SharedPtr node_handle_ ;
+  image_transport::ImageTransport transport_;
+  image_transport::Publisher img_pub_;
+};
 
-  // 3.开启同步
-  synchronizer.Start();
+int main(int argc, char* argv[])
+{
+
+  rclcpp::init(argc, argv);
+  rclcpp::shutdown();
 
-  // 4.接收数据
-  Messenger::GetInstance().SubStruct("imu_1", ImuCallback);
-  Messenger::GetInstance().SubStruct("camera_1", ImageCallback);
-  // 阻塞线程
-  while (true) {
-    std::this_thread::sleep_for(std::chrono::milliseconds(100));
-  }
-  // 5.停止同步
-  synchronizer.Stop();
   return 0;
 }

example/GigeCam/package.xml

@@ -3,7 +3,7 @@
   <name>gige_cam</name>
   <version>1.0.0</version>
   <description>The infinite sense camera package</description>
-  <maintainer email="">infinite sense</maintainer>
+  <maintainer email="www.qq837374741@foxmail.com">infinite sense</maintainer>
   <license>BSD</license>
   <buildtool_depend>ament_cmake</buildtool_depend>