Open bkhnk48 opened 9 months ago
After several attempts, it sounds like I successfully install orocos-bfl. Then I modify the CMakeLists.txt of people_tracking_filters:
cmake_minimum_required(VERSION 3.5)
project(people_tracking_filter)
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()
# Look for bfl (Bayesian Filtering Library)
find_package(PkgConfig)
pkg_check_modules(BFL REQUIRED orocos-bfl)
link_directories(${BFL_LIBRARY_DIRS})
# Find dependencies
find_package(ament_cmake REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(message_filters REQUIRED)
find_package(people_msgs REQUIRED)
find_package(rclcpp REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(Boost REQUIRED COMPONENTS thread)
# Declare a library
add_library(${PROJECT_NAME} SHARED
src/uniform_vector.cpp
src/gaussian_vector.cpp
src/gaussian_pos_vel.cpp
src/mcpdf_pos_vel.cpp
src/mcpdf_vector.cpp
src/sysmodel_pos_vel.cpp
src/sysmodel_vector.cpp
src/measmodel_pos.cpp
src/measmodel_vector.cpp
src/tracker_particle.cpp
src/tracker_kalman.cpp
src/detector_particle.cpp
)
ament_target_dependencies(${PROJECT_NAME}
geometry_msgs
message_filters
people_msgs
rclcpp
sensor_msgs
std_msgs
tf2
tf2_ros
Boost
)
target_link_libraries(${PROJECT_NAME} ${BFL_LIBRARIES})
# Declare an executable
add_executable(people_tracker src/people_tracking_node.cpp)
ament_target_dependencies(people_tracker ${PROJECT_NAME})
# Install
install(TARGETS ${PROJECT_NAME} people_tracker
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION lib/${PROJECT_NAME}
)
install(DIRECTORY include/ DESTINATION include)
install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
# Testing
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies()
endif()
# Must be called *after* the targets to check have been declared
ament_package()
I run the command colcon build to install people_msgs. However, I got error as installing people_tracking_filters colcon build
My OS is Ubuntu 22.04.3 LTS, my ROS2 is humble As reading the above message, it sounds like orocos-bfl was not found. But I can not install the orocos-bfl as well. As I run colcon build, I got the error:
perhaps, the orocos-bfl is not available for ROS2 humble. Is there any alternative package for orocos-bfl? Thank you