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Add compiled dynamic libraries and export to ament #5

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0c54b5e
Add compiled dynamic libraries and export to ament
wentywenty Jun 18, 2025
158bccd
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wentywenty Jun 20, 2025
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28 changes: 23 additions & 5 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -53,19 +53,37 @@ set(DEPENDENCIES
"nav_msgs"
)
ament_target_dependencies(${EXECUTABLE_NAME} ${DEPENDENCIES})

## Declare a cpp library
add_library(${PROJECT_NAME} src/CLaserOdometry2D.cpp)
add_library(${PROJECT_NAME} SHARED src/CLaserOdometry2D.cpp)

## Declare a cpp executable
ament_target_dependencies(${PROJECT_NAME} ${DEPENDENCIES})

install(TARGETS ${EXECUTABLE_NAME}
DESTINATION lib/${PROJECT_NAME})
install(TARGETS ${EXECUTABLE_NAME} ${PROJECT_NAME}
DESTINATION lib)

install(TARGETS ${PROJECT_NAME}
DESTINATION ../sha32_driver/lib)

install(
DIRECTORY launch
DESTINATION share/${PROJECT_NAME})

ament_package()
install(DIRECTORY
include
DESTINATION .
)

install(
TARGETS ${PROJECT_NAME}
EXPORT export_${PROJECT_NAME}
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)

ament_export_include_directories(include)

ament_export_targets(export_${PROJECT_NAME})

ament_package()
22 changes: 11 additions & 11 deletions src/CLaserOdometry2D.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -251,8 +251,8 @@ bool CLaserOdometry2D::odometryCalculation(const sensor_msgs::msg::LaserScan& sc

auto m_runtime = get_clock()->now() - start;

RCLCPP_INFO(get_logger(), "[rf2o] execution time (ms): %f",
m_runtime.seconds()*double(1000));
// RCLCPP_INFO(get_logger(), "[rf2o] execution time (ms): %f",
// m_runtime.seconds()*double(1000));

//Update poses
PoseUpdate();
Expand Down Expand Up @@ -812,7 +812,7 @@ bool CLaserOdometry2D::filterLevelSolution()
Eigen::SelfAdjointEigenSolver<Eigen::MatrixXf> eigensolver(cov_odo);
if (eigensolver.info() != Eigen::Success)
{
RCLCPP_WARN(get_logger(), "[rf2o] ERROR: Eigensolver couldn't find a solution. Pose is not updated");
// RCLCPP_WARN(get_logger(), "[rf2o] ERROR: Eigensolver couldn't find a solution. Pose is not updated");
return false;
}

Expand Down Expand Up @@ -935,18 +935,18 @@ void CLaserOdometry2D::PoseUpdate()
kai_loc_old_(1) = -kai_abs_(0)*std::sin(phi) + kai_abs_(1)*std::cos(phi);
kai_loc_old_(2) = kai_abs_(2);

RCLCPP_INFO(get_logger(), "[rf2o] LASERodom = [%f %f %f]",
laser_pose_.translation()(0),
laser_pose_.translation()(1),
rf2o::getYaw(laser_pose_.rotation()));
// RCLCPP_INFO(get_logger(), "[rf2o] LASERodom = [%f %f %f]",
// laser_pose_.translation()(0),
// laser_pose_.translation()(1),
// rf2o::getYaw(laser_pose_.rotation()));

//Compose Transformations
robot_pose_ = laser_pose_ * laser_pose_on_robot_inv_;

RCLCPP_INFO(get_logger(), "BASEodom = [%f %f %f]",
robot_pose_.translation()(0),
robot_pose_.translation()(1),
rf2o::getYaw(robot_pose_.rotation()));
// RCLCPP_INFO(get_logger(), "BASEodom = [%f %f %f]",
// robot_pose_.translation()(0),
// robot_pose_.translation()(1),
// rf2o::getYaw(robot_pose_.rotation()));

// Estimate linear/angular speeds (mandatory for base_local_planner)
// last_scan -> the last scan received
Expand Down