jay16213 commented 5 years ago

創建 ros package

note: 須先建立好 ros 的 workspace

cd ~/catkin_ws/src
catkin_create_pkg <package_name> std_msgs rospy roscpp
# ros建議: package_name 以英文小寫字母開頭, 且名稱僅包含英文小寫字母, 阿拉伯數字, 底線, dash

創好 package 後, 可在~/catkin_ws/src/ 中看到資料夾。如 package name 叫 user_viewer (下文皆以 user_viewer 做為 package_name) 則整個 worksapce 結構應該如下

~/catkin_ws/
  src/
    user_viewer/
      include/
      src/
      package.xml
      CMakeLists.txt
    CMakeLists.txt

移植專案

將需要的 code 放到 ~/catkin_ws/src/user_viewer/src
將 OpenNI, NiTE 的header file 放到 ~/catkin_ws/src/user_viewer/include
在 ~/catkin_ws/src/user_viewer 下創兩個資料夾, OpenNI2 & NiTE2, 將OpenNI, NiTE的 shared library (NiTE-Linux-x64-2.2/Redist & OpenNI-Linux-x64-2.2/Redist) 分別放入此兩個資料夾
修改 ~/catkin_ws/src/user_viewer 下的CMakeLists.txt (以下僅列出需要修改部份)

...

find_package(OpenGL REQUIRED)
find_package(GLUT REQUIRED)

...

include_directories(
    include
    ${catkin_INCLUDE_DIRS}
    ${OPENGL_INCLUDE_DIRS}
    ${GLUT_INCLUDE_DIRS}
)

link_directories(
    NiTE2
    OpenNI2
)

add_executable(<node_name> src/main.cpp src/Viewer.cpp)

target_link_libraries(<node_name> ${catkin_LIBRARIES} ${OPENGL_LIBRARIES} ${GLUT_LIBRARY} OpenNI2 NiTE2)

...

Compile

cd ~/catkin_ws
catkin_make

compile 成功後, 執行

source ~/catkin_ws/devel/setup.bash

確認 source 有無成功: 嘗試輸入下列指令, 若可按 tab 自動完成指令即表示成功:

rosrun user_viewer <node_name>

若專案確認沒問題, 可將 ~/catkin_ws/devel/setup.bash 加入 ~/.bash.rc 中, 以後就不用再 source 可直接執行 node

echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

Run the project

執行 ros 核心

roscore

開另一個 terminal, 執行

rosrun user_viewer <node_name>

note: 若找不到node, 先確認是否有先 source ~/catkin_ws/devel/setup.bash

sample project: https://drive.google.com/open?id=1Y0C0dCQ-yKPjawByFzo2ICmKpXe6D4BX

TingYuanKe commented 5 years ago

哈囉學弟我試著build起來看看到了catkin_make這裡出現下面的錯誤

-- ==> add_subdirectory(user_viewer) CMake Error: The following variables are used in this project, but they are set to NOTFOUND. Please set them or make sure they are set and tested correctly in the CMake files: GLUT_Xmu_LIBRARY (ADVANCED) linked by target "UserViewer_node" in directory /home/newrobot/catkin_ws/src/user_viewer

看起來是glut的header檔沒有吃到你們那時後有把GL的library和header塞到哪邊嘛？

Solution

Install package

sudo apt-get install libxmu-dev libxi-dev

jay16213 commented 5 years ago

我沒有特別去動OpengL跟glut的部份想請你先確認在catkin_make時有無輸出下列兩行

-- Found OpenGL: /usr/lib/x86_64-linux-gnu/libGL.so  
-- Found GLUT: /usr/lib/x86_64-linux-gnu/libglut.so

以及檢查 1 在/usr/lib/x86_64-linux-gnu/ 底下有無 libGL.so以及libglut.so這兩個檔案

/usr/include 底下有無GL/ 資料夾及裡面有無相對應的glut的header

底下附上完整的CMakeLists.txt 須注意 opengl 和 glut 的 find_package一定要分開寫成兩行不可以直接加在ros原來的find_package中

cmake_minimum_required(VERSION 2.8.3)
project(user_viewer)

## 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
  roscpp
  rospy
  std_msgs
)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
find_package(OpenGL REQUIRED)
find_package(GLUT REQUIRED)

## 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
#   std_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 UserViewer
#  CATKIN_DEPENDS roscpp rospy std_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}
  ${OPENGL_INCLUDE_DIRS}
  ${GLUT_INCLUDE_DIRS}
)

link_directories(
  NiTE2
  OpenNI2
)

## Declare a C++ library
# add_library(${PROJECT_NAME}
#   src/${PROJECT_NAME}/UserViewer.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(${PROJECT_NAME}_node src/UserViewer_node.cpp)
add_executable(UserViewer_node src/main.cpp src/Viewer.cpp)

## 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}
# )
target_link_libraries(UserViewer_node ${catkin_LIBRARIES} ${OPENGL_LIBRARIES} ${GLUT_LIBRARY} OpenNI2 NiTE2)
#############
## 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_UserViewer.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)

TingYuanKe commented 5 years ago

我沒有特別去動OpengL跟glut的部份想請你先確認在catkin_make時有無輸出下列兩行

-- Found OpenGL: /usr/lib/x86_64-linux-gnu/libGL.so  
-- Found GLUT: /usr/lib/x86_64-linux-gnu/libglut.so

以及檢查 1 在/usr/lib/x86_64-linux-gnu/ 底下有無 libGL.so以及libglut.so這兩個檔案

/usr/include 底下有無GL/ 資料夾及裡面有無相對應的glut的header

底下附上完整的CMakeLists.txt 須注意 opengl 和 glut 的 find_package一定要分開寫成兩行不可以直接加在ros原來的find_package中

cmake_minimum_required(VERSION 2.8.3)
project(user_viewer)

## 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
  roscpp
  rospy
  std_msgs
)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
find_package(OpenGL REQUIRED)
find_package(GLUT REQUIRED)

## 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
#   std_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 UserViewer
#  CATKIN_DEPENDS roscpp rospy std_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}
  ${OPENGL_INCLUDE_DIRS}
  ${GLUT_INCLUDE_DIRS}
)

link_directories(
  NiTE2
  OpenNI2
)

## Declare a C++ library
# add_library(${PROJECT_NAME}
#   src/${PROJECT_NAME}/UserViewer.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(${PROJECT_NAME}_node src/UserViewer_node.cpp)
add_executable(UserViewer_node src/main.cpp src/Viewer.cpp)

## 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}
# )
target_link_libraries(UserViewer_node ${catkin_LIBRARIES} ${OPENGL_LIBRARIES} ${GLUT_LIBRARY} OpenNI2 NiTE2)
#############
## 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_UserViewer.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)

TingYuanKe commented 5 years ago

Issue

執行rosrun user_viewer <node_name>出現

Could not find data file ./NiTE2/h.dat
current working directory = /home/newrobot/catkin_ws

吃不到 /NiTE2/NiTE2 裡的 s.dat和 h.dat

Solution:

將NiTE2/NiTE2 lib folder duplicate 一份至 catkin_ws

edwardwang-nycu commented 5 years ago

In C++, you can use ros::package in the roslib package to get information about ROS packages. For example:

include <ros/package.h>

...

std::string path = ros::package::getPath("roslib");

TingYuanKe / EOY_NewRobot

ROS 移植 #1

創建 ros package

移植專案

Compile

Run the project

Solution

Issue

Solution:

include <ros/package.h>