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 2.8)
+
+project(fdilink_ahrs)
+
+SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")  
+
+find_package(Eigen3 REQUIRED)
+set(Eigen3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
+find_package(catkin REQUIRED COMPONENTS
+   message_generation
+  # genmsg
+  # geometry_msgs
+  roscpp
+  rospy
+  sensor_msgs
+  std_msgs
+  tf
+  # std_srvs
+  nav_msgs
+  serial
+)
+include_directories(
+  include 
+  src
+  ${catkin_INCLUDE_DIRS}
+  ${Eigen3_INCLUDE_DIRS} 
+  
+)
+
+catkin_package(
+  CATKIN_DEPENDS message_runtime
+#  INCLUDE_DIRS include
+#  LIBRARIES xf_mic_api
+#  CATKIN_DEPENDS roscpp rospy senor_msgs std_msgs
+#  DEPENDS system_lib
+)
+
+# set(SERIAL_LIB /opt/ros/kinetic/lib/libserial.so)
+# set(SERIAL_LIB_PATH /opt/ros/kinetic/lib)
+# link_directories(${SERIAL_LIB_PATH})
+
+## ahrs_driver
+add_executable(ahrs_driver src/ahrs_driver.cpp)
+target_link_libraries(ahrs_driver crc_table ${catkin_LIBRARIES})# ${SERIAL_LIB}
+
+add_executable(imu_tf src/imu_tf.cpp)
+target_link_libraries( imu_tf ${catkin_LIBRARIES})# ${SERIAL_LIB}
+
+## crc_table
+add_library(crc_table src/crc_table.cpp)