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switch interfaces imu_msg

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This commit is contained in:
NuoDaJia02
2025-10-28 15:54:36 +08:00
parent 6681ebff6e
commit a535062a65
3 changed files with 12 additions and 16 deletions
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16
imu_dev/CMakeLists.txt
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@@ -10,19 +10,19 @@ find_package(ament_cmake REQUIRED)
find_package(std_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rosidl_default_generators REQUIRED)
find_package(interfaces REQUIRED)
rosidl_generate_interfaces(${PROJECT_NAME} "msg/ImuMsg.msg" DEPENDENCIES sensor_msgs)
####rosidl_generate_interfaces(${PROJECT_NAME} "msg/ImuMsg.msg" DEPENDENCIES sensor_msgs)
include_directories(include ${CMAKE_CURRENT_BINARY_DIR} ${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_cpp)
add_executable(imu_dev_node src/main.cpp)
ament_target_dependencies(imu_dev_node rclcpp std_msgs sensor_msgs)
add_dependencies(imu_dev_node ${PROJECT_NAME}__rosidl_typesupport_cpp)
target_link_libraries(imu_dev_node
${PROJECT_NAME}__rosidl_typesupport_cpp
${PROJECT_NAME}__rosidl_typesupport_c
)
ament_target_dependencies(imu_dev_node rclcpp std_msgs sensor_msgs interfaces)
###add_dependencies(imu_dev_node ${PROJECT_NAME}__rosidl_typesupport_cpp)
#target_link_libraries(imu_dev_node
# ${PROJECT_NAME}__rosidl_typesupport_cpp
# ${PROJECT_NAME}__rosidl_typesupport_c
#)
install(TARGETS imu_dev_node DESTINATION lib/${PROJECT_NAME})
install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}/launch)
if(BUILD_TESTING)

4
imu_dev/msg/ImuMsg.msg
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@@ -1,4 +0,0 @@
string source
string type
string position
sensor_msgs/Imu imu

8
imu_dev/src/main.cpp
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@@ -1,17 +1,17 @@
#include "rclcpp/rclcpp.hpp"
#include "imu_dev/msg/imu_msg.hpp"
#include "interfaces/msg/imu_msg.hpp"
#include "sensor_msgs/msg/imu.hpp"
using namespace std;
int main(int argc, char **argv)
{
rclcpp::init(argc, argv);
auto node = rclcpp::Node::make_shared("imu_dev_node");
auto imu_pub = node->create_publisher<imu_dev::msg::ImuMsg>("/imu_msg", 10);
auto imu_pub = node->create_publisher<interfaces::msg::ImuMsg>("/imu_msg", 10);
auto imu_sub=node->create_subscription<sensor_msgs::msg::Imu>("/imu/data", 10, [=](const sensor_msgs::msg::Imu::SharedPtr msg){
//cout<<msg->linear_acceleration.x<<","<<msg->linear_acceleration.y<<","<<msg->linear_acceleration.z<<endl;
//cout<<msg->angular_velocity.x<<","<<msg->angular_velocity.y<<","<<msg->angular_velocity.z<<endl;
//cout<<msg->orientation.x<<","<<msg->orientation.y<<","<<msg->orientation.z<<","<<msg->orientation.w<<endl;
imu_dev::msg::ImuMsg imu_msg;
interfaces::msg::ImuMsg imu_msg;
imu_msg.source="waveshare";
imu_msg.position="front";
imu_msg.type="None";
@@ -20,4 +20,4 @@ int main(int argc, char **argv)
});
rclcpp::spin(node);
rclcpp::shutdown();
}
}