Initial commit

2026-07-27 13:51:19 +08:00
commit 7bec56ca51
5408 changed files with 1126933 additions and 0 deletions
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+cmake_minimum_required(VERSION 3.0.2)
+project(e_stop_relay)
+
+# 查找必要的catkin组件
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  serial
+  std_msgs
+  message_generation
+)
+
+# 声明消息文件
+add_message_files(
+  FILES
+)
+
+# 声明服务文件
+add_service_files(
+  FILES
+  EStopService.srv
+)
+
+# 生成消息文件
+generate_messages(
+  DEPENDENCIES
+  std_msgs
+)
+
+# 配置catkin包
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES e_stop_relay
+  CATKIN_DEPENDS roscpp serial std_msgs message_runtime
+)
+
+# 包含头文件路径
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+)
+
+# 编译可执行文件
+add_executable(e_stop_relay_node
+  src/e_stop_relay_node.cpp
+)
+
+# 添加消息生成依赖
+add_dependencies(e_stop_relay_node
+  ${${PROJECT_NAME}_EXPORTED_TARGETS}
+  ${catkin_EXPORTED_TARGETS}
+)
+
+# 链接依赖库
+target_link_libraries(e_stop_relay_node
+  ${catkin_LIBRARIES}
+)
+
+# 安装可执行文件
+install(TARGETS e_stop_relay_node
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+# 安装头文件
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h"
+  PATTERN ".svn" EXCLUDE
+)