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June 25, 2018 15:51
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de_example
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cmake_minimum_required(VERSION 2.8.3) | |
project(de_example) | |
## 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 packages | |
find_package(catkin REQUIRED COMPONENTS | |
dji_sdk | |
geometry_msgs | |
roscpp | |
sensor_msgs | |
) | |
## System dependencies are found with CMake's conventions | |
# find_package(Boost REQUIRED COMPONENTS system) | |
## Uncomment this if the package has a setup.py. This macro ensures | |
## modules and global scripts declared therein get installed | |
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html | |
# 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 package.xml: | |
## * 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 (CMakeLists.txt): | |
## * 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 | |
# Message1.msg | |
# Message2.msg | |
# ) | |
## Generate services in the 'srv' folder | |
# add_service_files( | |
# FILES | |
# Service1.srv | |
# Service2.srv | |
# ) | |
## Generate actions in the 'action' folder | |
# add_action_files( | |
# FILES | |
# Action1.action | |
# Action2.action | |
# ) | |
## Generate added messages and services with any dependencies listed here | |
# generate_messages( | |
# DEPENDENCIES | |
# geometry_msgs# sensor_msgs | |
# ) | |
################################################ | |
## Declare ROS dynamic reconfigure parameters ## | |
################################################ | |
## To declare and build dynamic reconfigure parameters within this | |
## package, follow these steps: | |
## * In the file package.xml: | |
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" | |
## * In this file (CMakeLists.txt): | |
## * 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/DynReconf1.cfg | |
# cfg/DynReconf2.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 need | |
catkin_package( | |
# INCLUDE_DIRS include | |
# LIBRARIES de_example | |
# CATKIN_DEPENDS dji_sdk geometry_msgs roscpp sensor_msgs | |
# DEPENDS system_lib | |
) | |
########### | |
## Build ## | |
########### | |
## Specify additional locations of header files | |
## Your package locations should be listed before other locations | |
include_directories( | |
# include | |
${catkin_INCLUDE_DIRS} | |
) | |
## Declare a C++ library | |
# add_library(${PROJECT_NAME} | |
# src/${PROJECT_NAME}/de_example.cpp | |
# ) | |
## Add cmake target dependencies of the library | |
## as an example, code may need to be generated before libraries | |
## either from message generation or dynamic reconfigure | |
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) | |
## Declare a C++ executable | |
## With catkin_make all packages are built within a single CMake context | |
## The recommended prefix ensures that target names across packages don't collide | |
add_executable(de_sub_srv src/de_sub_srv.cpp) | |
target_link_libraries(de_sub_srv ${catkin_LIBRARIES}) | |
## Rename C++ executable without prefix | |
## The above recommended prefix causes long target names, the following renames the | |
## target back to the shorter version for ease of user use | |
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" | |
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") | |
## Add cmake target dependencies of the executable | |
## same as for the library above | |
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) | |
## Specify libraries to link a library or executable target against | |
# target_link_libraries(${PROJECT_NAME}_node | |
# ${catkin_LIBRARIES} | |
# ) | |
############# | |
## Install ## | |
############# | |
# all install targets should use catkin DESTINATION variables | |
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html | |
## Mark executable scripts (Python etc.) for installation | |
## in contrast to setup.py, you can choose the destination | |
# install(PROGRAMS | |
# scripts/my_python_script | |
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} | |
# ) | |
## Mark executables and/or libraries for installation | |
# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node | |
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} | |
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} | |
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} | |
# ) | |
## Mark cpp header files for installation | |
# install(DIRECTORY include/${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 ${CATKIN_PACKAGE_SHARE_DESTINATION} | |
# ) | |
############# | |
## Testing ## | |
############# | |
## Add gtest based cpp test target and link libraries | |
# catkin_add_gtest(${PROJECT_NAME}-test test/test_de_example.cpp) | |
# if(TARGET ${PROJECT_NAME}-test) | |
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) | |
# endif() | |
## Add folders to be run by python nosetests | |
# catkin_add_nosetests(test) |
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#include <ros/ros.h> | |
#include <dji_sdk/SDKControlAuthority.h> | |
#include <sensor_msgs/NavSatFix.h> | |
sensor_msgs::NavSatFix gps_pos; | |
void gps_pos_cb(const sensor_msgs::NavSatFix::ConstPtr& msg) | |
{ | |
gps_pos = *msg; | |
ROS_INFO("\nLongitude : %f\nLatitude : %f\nAltitude : %f\n", msg->longitude, msg->latitude, msg->altitude); | |
} | |
int main(int argc, char **argv) | |
{ | |
ros::init(argc, argv, "de_sub_srv"); | |
ros::NodeHandle n; | |
ros::Subscriber gps_sub = n.subscribe("dji_sdk/gps_position", 1000, gps_pos_cb); | |
ROS_INFO("Done"); | |
ros::spin(); | |
return 0; | |
} |
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