Hello,
I am trying to run the local_planner with the install folder (output of cantkin build with config --install) on an Intel compute stick with UBUNTU 18.04 LTS and ROS Melodic with the minimal setup.
This is the output of my avoidance.launch:
SUMMARY
========
CLEAR PARAMETERS
* /mavros/
PARAMETERS
* /D435i/realsense2_camera/accel_fps: 0
* /D435i/realsense2_camera/accel_frame_id: D435i_accel_frame
* /D435i/realsense2_camera/accel_optical_frame_id: D435i_accel_optic...
* /D435i/realsense2_camera/align_depth: False
* /D435i/realsense2_camera/aligned_depth_to_color_frame_id: D435i_aligned_dep...
* /D435i/realsense2_camera/aligned_depth_to_fisheye1_frame_id: D435i_aligned_dep...
* /D435i/realsense2_camera/aligned_depth_to_fisheye2_frame_id: D435i_aligned_dep...
* /D435i/realsense2_camera/aligned_depth_to_fisheye_frame_id: D435i_aligned_dep...
* /D435i/realsense2_camera/aligned_depth_to_infra1_frame_id: D435i_aligned_dep...
* /D435i/realsense2_camera/aligned_depth_to_infra2_frame_id: D435i_aligned_dep...
* /D435i/realsense2_camera/allow_no_texture_points: False
* /D435i/realsense2_camera/base_frame_id: D435i_link
* /D435i/realsense2_camera/calib_odom_file:
* /D435i/realsense2_camera/clip_distance: -1.0
* /D435i/realsense2_camera/color_fps: 15
* /D435i/realsense2_camera/color_frame_id: D435i_color_frame
* /D435i/realsense2_camera/color_height: 480
* /D435i/realsense2_camera/color_optical_frame_id: D435i_color_optic...
* /D435i/realsense2_camera/color_width: 640
* /D435i/realsense2_camera/depth_fps: 30
* /D435i/realsense2_camera/depth_frame_id: D435i_depth_frame
* /D435i/realsense2_camera/depth_height: 480
* /D435i/realsense2_camera/depth_optical_frame_id: D435i_depth_optic...
* /D435i/realsense2_camera/depth_width: 640
* /D435i/realsense2_camera/device_type:
* /D435i/realsense2_camera/enable_accel: False
* /D435i/realsense2_camera/enable_color: False
* /D435i/realsense2_camera/enable_depth: True
* /D435i/realsense2_camera/enable_fisheye1: False
* /D435i/realsense2_camera/enable_fisheye2: False
* /D435i/realsense2_camera/enable_fisheye: False
* /D435i/realsense2_camera/enable_gyro: False
* /D435i/realsense2_camera/enable_infra1: True
* /D435i/realsense2_camera/enable_infra2: False
* /D435i/realsense2_camera/enable_infra: False
* /D435i/realsense2_camera/enable_pointcloud: False
* /D435i/realsense2_camera/enable_pose: False
* /D435i/realsense2_camera/enable_sync: False
* /D435i/realsense2_camera/filters:
* /D435i/realsense2_camera/fisheye1_frame_id: D435i_fisheye1_frame
* /D435i/realsense2_camera/fisheye1_optical_frame_id: D435i_fisheye1_op...
* /D435i/realsense2_camera/fisheye2_frame_id: D435i_fisheye2_frame
* /D435i/realsense2_camera/fisheye2_optical_frame_id: D435i_fisheye2_op...
* /D435i/realsense2_camera/fisheye_fps: 30
* /D435i/realsense2_camera/fisheye_frame_id: D435i_fisheye_frame
* /D435i/realsense2_camera/fisheye_height: 0
* /D435i/realsense2_camera/fisheye_optical_frame_id: D435i_fisheye_opt...
* /D435i/realsense2_camera/fisheye_width: 0
* /D435i/realsense2_camera/gyro_fps: 0
* /D435i/realsense2_camera/gyro_frame_id: D435i_gyro_frame
* /D435i/realsense2_camera/gyro_optical_frame_id: D435i_gyro_optica...
* /D435i/realsense2_camera/imu_optical_frame_id: D435i_imu_optical...
* /D435i/realsense2_camera/infra1_frame_id: D435i_infra1_frame
* /D435i/realsense2_camera/infra1_optical_frame_id: D435i_infra1_opti...
* /D435i/realsense2_camera/infra2_frame_id: D435i_infra2_frame
* /D435i/realsense2_camera/infra2_optical_frame_id: D435i_infra2_opti...
* /D435i/realsense2_camera/infra_fps: 15
* /D435i/realsense2_camera/infra_height: 480
* /D435i/realsense2_camera/infra_width: 640
* /D435i/realsense2_camera/initial_reset: False
* /D435i/realsense2_camera/json_file_path: /home/ctrazzi/ins...
* /D435i/realsense2_camera/linear_accel_cov: 0.01
* /D435i/realsense2_camera/odom_frame_id: D435i_odom_frame
* /D435i/realsense2_camera/pointcloud_texture_index: 0
* /D435i/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR
* /D435i/realsense2_camera/pose_frame_id: D435i_pose_frame
* /D435i/realsense2_camera/pose_optical_frame_id: D435i_pose_optica...
* /D435i/realsense2_camera/publish_odom_tf: True
* /D435i/realsense2_camera/publish_tf: True
* /D435i/realsense2_camera/rosbag_filename:
* /D435i/realsense2_camera/serial_no: 021122070141
* /D435i/realsense2_camera/tf_publish_rate: 0.0
* /D435i/realsense2_camera/topic_odom_in: D435i/odom_in
* /D435i/realsense2_camera/unite_imu_method: none
* /D435i/realsense2_camera/usb_port_id:
* /local_planner_node/goal_x_param: 0
* /local_planner_node/goal_y_param: 0
* /local_planner_node/goal_z_param: 4
* /local_planner_node/pointcloud_topics: ['/D435i/depth/po...
* /mavros/cmd/use_comp_id_system_control: False
* /mavros/conn/heartbeat_rate: 1.0
* /mavros/conn/system_time_rate: 1.0
* /mavros/conn/timeout: 10.0
* /mavros/conn/timesync_rate: 10.0
* /mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
* /mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
* /mavros/distance_sensor/hrlv_ez4_pub/id: 0
* /mavros/distance_sensor/hrlv_ez4_pub/orientation: ROLL_180
* /mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
* /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
* /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
* /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
* /mavros/distance_sensor/laser_1_sub/id: 3
* /mavros/distance_sensor/laser_1_sub/orientation: ROLL_180
* /mavros/distance_sensor/laser_1_sub/subscriber: True
* /mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
* /mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
* /mavros/distance_sensor/lidarlite_pub/id: 1
* /mavros/distance_sensor/lidarlite_pub/orientation: ROLL_180
* /mavros/distance_sensor/lidarlite_pub/send_tf: True
* /mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
* /mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
* /mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
* /mavros/distance_sensor/sonar_1_sub/id: 2
* /mavros/distance_sensor/sonar_1_sub/orientation: ROLL_180
* /mavros/distance_sensor/sonar_1_sub/subscriber: True
* /mavros/fcu_protocol: v2.0
* /mavros/fcu_url: /dev/ttyACM0:57600
* /mavros/gcs_url: udp://@10.0.0.56
* /mavros/global_position/frame_id: fcu
* /mavros/global_position/rot_covariance: 99999.0
* /mavros/global_position/tf/child_frame_id: fcu_utm
* /mavros/global_position/tf/frame_id: local_origin
* /mavros/global_position/tf/send: False
* /mavros/image/frame_id: px4flow
* /mavros/imu/angular_velocity_stdev: 0.0003490659 // 0...
* /mavros/imu/frame_id: fcu
* /mavros/imu/linear_acceleration_stdev: 0.0003
* /mavros/imu/magnetic_stdev: 0.0
* /mavros/imu/orientation_stdev: 1.0
* /mavros/local_position/frame_id: local_origin
* /mavros/local_position/tf/child_frame_id: fcu
* /mavros/local_position/tf/frame_id: local_origin
* /mavros/local_position/tf/send: True
* /mavros/local_position/tf/send_fcu: False
* /mavros/mission/pull_after_gcs: True
* /mavros/mocap/use_pose: False
* /mavros/mocap/use_tf: True
* /mavros/odometry/fcu/odom_child_id_des: base_link
* /mavros/odometry/fcu/odom_parent_id_des: map
* /mavros/plugin_blacklist: ['safety_area', '...
* /mavros/plugin_whitelist: []
* /mavros/px4flow/frame_id: px4flow
* /mavros/px4flow/ranger_fov: 0.118682
* /mavros/px4flow/ranger_max_range: 5.0
* /mavros/px4flow/ranger_min_range: 0.3
* /mavros/safety_area/p1/x: 1.0
* /mavros/safety_area/p1/y: 1.0
* /mavros/safety_area/p1/z: 1.0
* /mavros/safety_area/p2/x: -1.0
* /mavros/safety_area/p2/y: -1.0
* /mavros/safety_area/p2/z: -1.0
* /mavros/setpoint_accel/send_force: False
* /mavros/setpoint_attitude/reverse_throttle: False
* /mavros/setpoint_attitude/tf/child_frame_id: attitude
* /mavros/setpoint_attitude/tf/frame_id: local_origin
* /mavros/setpoint_attitude/tf/listen: False
* /mavros/setpoint_attitude/tf/rate_limit: 10.0
* /mavros/setpoint_position/tf/child_frame_id: setpoint
* /mavros/setpoint_position/tf/frame_id: local_origin
* /mavros/setpoint_position/tf/listen: False
* /mavros/setpoint_position/tf/rate_limit: 50.0
* /mavros/startup_px4_usb_quirk: True
* /mavros/sys/disable_diag: False
* /mavros/sys/min_voltage: 10.0
* /mavros/target_component_id: 1
* /mavros/target_system_id: 1
* /mavros/tdr_radio/low_rssi: 40
* /mavros/time/time_ref_source: fcu
* /mavros/time/timesync_avg_alpha: 0.6
* /mavros/vibration/frame_id: vibration
* /mavros/vision_pose/tf/child_frame_id: vision
* /mavros/vision_pose/tf/frame_id: local_origin
* /mavros/vision_pose/tf/listen: False
* /mavros/vision_pose/tf/rate_limit: 10.0
* /mavros/vision_speed/listen_twist: False
* /rosdistro: melodic
* /rosversion: 1.14.6
NODES
/
drop_D435i_depth (topic_tools/drop)
drop_D435i_ir (topic_tools/drop)
local_planner_node (local_planner/local_planner_node)
mavros (mavros/mavros_node)
rqt_param_toggle (local_planner/rqt_param_toggle.sh)
tf_D435i (tf/static_transform_publisher)
/D435i/
points_xyz_sw_registered (nodelet/nodelet)
realsense2_camera (nodelet/nodelet)
realsense2_camera_manager (nodelet/nodelet)
auto-starting new master
process[master]: started with pid [19163]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 942eda88-cbef-11ea-9d65-00e04c6863e7
process[rosout-1]: started with pid [19174]
started core service [/rosout]
process[mavros-2]: started with pid [19182]
process[tf_D435i-3]: started with pid [19183]
process[D435i/realsense2_camera_manager-4]: started with pid [19184]
process[D435i/realsense2_camera-5]: started with pid [19185]
process[D435i/points_xyz_sw_registered-6]: started with pid [19191]
process[drop_D435i_depth-7]: started with pid [19192]
process[drop_D435i_ir-8]: started with pid [19202]
process[local_planner_node-9]: started with pid [19209]
process[rqt_param_toggle-10]: started with pid [19215]
[ INFO] [1595404047.596698327]: Initializing nodelet with 4 worker threads.
[ INFO] [1595404047.701604474]: Initializing nodelet with 4 worker threads.
**[ERROR] [1595404048.008635918]: Failed to load nodelet [/local_planner_node] of type [LocalPlannerNodelet] even after refreshing the cache: Failed to load library /home/ctrazzi/install/lib//liblocal_planner_nodelet.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = libavoidance.so: cannot open shared object file: No such file or directory)**
**[ERROR] [1595404048.009218255]: The error before refreshing the cache was: Failed to load library /home/ctrazzi/install/lib//liblocal_planner_nodelet.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = libavoidance.so: cannot open shared object file: No such file or directory)**
[ INFO] [1595404048.045112629]: FCU URL: /dev/ttyACM0:57600
[ INFO] [1595404048.055917471]: serial0: device: /dev/ttyACM0 @ 57600 bps
[ INFO] [1595404048.058368544]: GCS URL: udp://@10.0.0.56
[ INFO] [1595404048.062198428]: udp1: Bind address: 0.0.0.0:14555
[ INFO] [1595404048.062582815]: udp1: Remote address: 10.0.0.56:14550
[ INFO] [1595404048.390482495]: Plugin 3dr_radio loaded
[ INFO] [1595404048.397836802]: Plugin 3dr_radio initialized
[ INFO] [1595404048.398247051]: Plugin actuator_control loaded
[ INFO] [1595404048.411258304]: Plugin actuator_control initialized
[ INFO] [1595404048.634062825]: Plugin adsb loaded
[ INFO] [1595404048.648860063]: Plugin adsb initialized
[ INFO] [1595404048.649919713]: Plugin altitude loaded
[ INFO] [1595404048.655228409]: Plugin altitude initialized
etc ...
This is the launch file avoidance.launch generated from the modified generate_launchfile.sh:
<launch>
<arg name="ns" default="/"/>
<arg name="fcu_url" default="/dev/ttyACM0:57600"/>
<!-- <arg name="gcs_url" default="udp://@127.0.0.1"/> -->
<arg name="gcs_url" default="udp://@10.0.0.56"/>
<!-- <arg name="gcs_url" default="" /> --> <!-- GCS link is provided by SITL -->
<arg name="tgt_system" default="1" />
<arg name="tgt_component" default="1" />
<!-- Launch MavROS -->
<group ns="$(arg ns)">
<include file="$(find mavros)/launch/node.launch">
<arg name="pluginlists_yaml" value="$(find mavros)/launch/px4_pluginlists.yaml" />
<!-- Need to change the config file to get the tf topic and get local position in terms of local origin -->
<arg name="config_yaml" value="$(find local_planner)/px4_config.yaml" />
<!-- <arg name="config_yaml" value="$(find mavros)/launch/px4_config.yaml" /> -->
<arg name="fcu_url" value="$(arg fcu_url)" />
<arg name="gcs_url" value="$(arg gcs_url)" />
<arg name="tgt_system" value="$(arg tgt_system)" />
<arg name="tgt_component" value="$(arg tgt_component)" />
</include>
</group>
<!-- Launch cameras -->
<node pkg="tf" type="static_transform_publisher" name="tf_D435i" required="true"
args="0.3 0.32 -0.11 0 0 0 fcu D435i_link 10"/>
<include file="$(find local_planner)/rs_depthcloud.launch">
<arg name="required" value="true"/>
<arg name="namespace" value="D435i" />
<arg name="tf_prefix" value="D435i" />
<arg name="serial_no" value="021122070141"/>
<arg name="depth_fps" value="30"/>
</include>
<!-- launch node to throttle depth images for logging -->
<node name="drop_D435i_depth" pkg="topic_tools" type="drop" output="screen"
args="/D435i/depth/image_rect_raw 29 30">
</node>
<node name="drop_D435i_ir" pkg="topic_tools" type="drop" output="screen"
args="/D435i/infra1/image_rect_raw 29 30">
</node>
<!-- Launch avoidance -->
<!-- <env name="ROSCONSOLE_CONFIG_FILE" value="$(find local_planner)/resource/custom_rosconsole.conf"/> -->
<env name="ROSCONSOLE_CONFIG_FILE" value="$(find local_planner)/custom_rosconsole.conf"/>
<arg name="pointcloud_topics" default="[/D435i/depth/points]"/>
<node name="local_planner_node" pkg="local_planner" type="local_planner_node" output="screen" required="true" >
<param name="goal_x_param" value="0" />
<param name="goal_y_param" value="0"/>
<param name="goal_z_param" value="4" />
<rosparam param="pointcloud_topics" subst_value="True">$(arg pointcloud_topics)</rosparam>
</node>
<!-- set or toggle rqt parameters -->
<node name="rqt_param_toggle" pkg="local_planner" type="rqt_param_toggle.sh" />
</launch>
And this is my arranged CMakeList.txt inside local_planner:
cmake_minimum_required(VERSION 2.8.12)
project(local_planner)
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
dynamic_reconfigure
tf
pcl_ros
mavros
mavros_extras
mavros_msgs
mavlink
avoidance
nodelet
pluginlib
)
find_package(PCL 1.7 REQUIRED)
#if(DISABLE_SIMULATION)
if(1)
message(STATUS "Building avoidance without Gazebo Simulation")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DDISABLE_SIMULATION")
endif()
################################################
## Gazebo Simulation
################################################
## 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 run_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 run_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 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
# )
################################################
## 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 run_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/LocalPlannerNode.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 you 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 local_planner
CATKIN_DEPENDS roscpp rospy std_msgs mavros_msgs geometry_msgs sensor_msgs message_runtime tf avoidance nodelet pluginlib
# DEPENDS system_lib
)
###########
## Build ##
###########
## CMake Setup
# Build in Release mode if nothing is specified
if(NOT CMAKE_BUILD_TYPE)
set(CMAKE_BUILD_TYPE Release)
endif(NOT CMAKE_BUILD_TYPE)
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(include)
include_directories(
include
${catkin_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
${YAML_CPP_INCLUDE_DIR}
)
## Declare a C++ library
# add_library(avoidance
# src/${PROJECT_NAME}/avoidance.cpp
# )
set(LOCAL_PLANNER_CPP_FILES "src/nodes/local_planner.cpp"
"src/nodes/waypoint_generator.cpp"
"src/nodes/tree_node.cpp"
"src/nodes/star_planner.cpp"
"src/nodes/planner_functions.cpp"
"src/nodes/local_planner_visualization.cpp"
"src/utils/trajectory_simulator.cpp"
)
add_library(local_planner "${LOCAL_PLANNER_CPP_FILES}")
add_library(local_planner_nodelet src/nodes/local_planner_nodelet.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(local_planner ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(local_planner_nodelet local_planner ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
# add_executable(avoidance_node src/avoidance_node.cpp)
add_executable(local_planner_node src/nodes/local_planner_node_main.cpp)
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(avoidance_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
# target_link_libraries(avoidance_node
# ${catkin_LIBRARIES}
# ${PCL_LIBRARIES}
# )
target_link_libraries(
local_planner
PUBLIC
${catkin_LIBRARIES}
${YAML_CPP_LIBRARIES})
target_link_libraries(
local_planner_nodelet
PUBLIC
local_planner
${catkin_LIBRARIES}
${YAML_CPP_LIBRARIES})
target_link_libraries(
local_planner_node
PUBLIC
local_planner_nodelet
${catkin_LIBRARIES}
${YAML_CPP_LIBRARIES}
${Boost_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 avoidance avoidance_node
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
# Install local_planner library
#install(TARGETS ${PROJECT_NAME}
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
# Install local_planner library
install(TARGETS local_planner
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
# Install nodelet library
install(TARGETS local_planner_nodelet
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(TARGETS
local_planner_node
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
#../install/share/local_planner
install(FILES
"launch/avoidance.launch"
"launch/rs_depthcloud.launch"
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
# #../install/share/local_planner
install(FILES
"resource/px4_config.yaml"
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
# #../install/share/local_planner
install(FILES
"nodelets.xml"
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
# #../install/share/local_planner
install(FILES
"resource/rqt_param_toggle.sh"
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
# #../install/share/local_planner
install(FILES
"resource/custom_rosconsole.conf"
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
# #../install/share/local_planner
install(FILES
"resource/stereo_calib.json"
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
#############
## Testing ##
#############
if(CATKIN_ENABLE_TESTING)
# Add gtest based cpp test target and link libraries
catkin_add_gtest(${PROJECT_NAME}-test test/main.cpp
test/test_example.cpp
test/test_local_planner.cpp
test/test_planner_functions.cpp
test/test_star_planner.cpp
test/test_trajectory_simulator.cpp
test/test_waypoint_generator.cpp)
catkin_add_gtest(${PROJECT_NAME}-test-roscore test/main.cpp
test/test_local_planner_nodelet.cpp)
if(TARGET ${PROJECT_NAME}-test)
target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}
${catkin_LIBRARIES}
${YAML_CPP_LIBRARIES})
endif()
if(TARGET ${PROJECT_NAME}-test-roscore)
target_link_libraries(${PROJECT_NAME}-test-roscore local_planner_nodelet
${catkin_LIBRARIES}
${YAML_CPP_LIBRARIES})
endif()
if (${CMAKE_BUILD_TYPE} STREQUAL "Coverage")
SET(CMAKE_CXX_FLAGS "-g -O0 -fprofile-arcs -ftest-coverage --coverage")
SET(CMAKE_C_FLAGS "-g -O0 -fprofile-arcs -ftest-coverage --coverage")
SET(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} --coverage")
add_custom_target(${PROJECT_NAME}-test_coverage
COMMAND lcov --zerocounters --directory ${PROJECT_BINARY_DIR}
COMMAND lcov --capture --initial --no-external --directory ${PROJECT_BINARY_DIR} --base-directory ${${PROJECT_NAME}_SOURCE_DIR} --output-file base_coverage.info --rc lcov_branch_coverage=1
COMMAND ${PROJECT_NAME}-test
COMMAND ${PROJECT_NAME}-test-roscore
COMMAND lcov --capture --no-external --directory ${PROJECT_BINARY_DIR} --base-directory ${${PROJECT_NAME}_SOURCE_DIR} --output-file test_coverage.info --rc lcov_branch_coverage=1
COMMAND lcov -a base_coverage.info -a test_coverage.info -o coverage.info --rc lcov_branch_coverage=1
COMMAND lcov --rc lcov_branch_coverage=1 --summary coverage.info
WORKING_DIRECTORY .
DEPENDS ${PROJECT_NAME}-test ${PROJECT_NAME}-test-roscore
)
add_custom_target(${PROJECT_NAME}-test_coverage_html
COMMAND genhtml coverage.info --output-directory out --branch-coverage
COMMAND x-www-browser out/index.html
WORKING_DIRECTORY .
DEPENDS ${PROJECT_NAME}-test_coverage
)
endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
endif()
The strange thing is that with the locate command I can not find the liblocal_planner_nodelet.so in the install folders…is this normal or is a consequence of that error?
I understand that the problem is the path of LocalPlannerNodelet, because the error return /lib//liblocal_planner_nodelet.so , but I can not find a solution on forums or by myself… and is the first time that I see a path with // between a folder and a file.
Can someone help me please? 