support Odin 1. support Ubuntu 18.04,Ubuntu 20.04,Ubuntu22.04. support for ROS1 and ROS2.
This commit is contained in:
Oliveiratang
+297
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cmake_minimum_required(VERSION 3.5)
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project(odin_ros_driver)
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if(DEFINED BUILD_SYSTEM)
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set(ROS_VERSION ${BUILD_SYSTEM})
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message(STATUS "使用命令行指定的构建系统: ${ROS_VERSION}")
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elseif(DEFINED ENV{ROS_DISTRO})
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if("$ENV{ROS_DISTRO}" MATCHES "foxy|galactic|humble|iron|rolling")
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set(ROS_VERSION "ROS2")
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else()
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set(ROS_VERSION "ROS1")
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endif()
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elseif(DEFINED ENV{ROS_VERSION})
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if("$ENV{ROS_VERSION}" EQUAL "2")
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set(ROS_VERSION "ROS2")
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else()
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set(ROS_VERSION "ROS1")
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endif()
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else()
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# 尝试自动检测
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if(COMMAND catkin_package)
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set(ROS_VERSION "ROS1")
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elseif(COMMAND ament_package)
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set(ROS_VERSION "ROS2")
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else()
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# 默认使用ROS2
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set(ROS_VERSION "ROS2")
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message(WARNING "无法确定ROS版本，默认使用ROS2")
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endif()
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endif()
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# 检测 ROS 版本后添加编译宏
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if(ROS_VERSION STREQUAL "ROS2")
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add_definitions(-DROS2)
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message(STATUS "定义 ROS2 宏")
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else()
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add_definitions(-DROS1)
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message(STATUS "定义 ROS1 宏")
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endif()
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message(STATUS "构建系统: ${ROS_VERSION}")
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# 平台检测
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execute_process(
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COMMAND uname -m
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OUTPUT_VARIABLE ARCH
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OUTPUT_STRIP_TRAILING_WHITESPACE
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)
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if(ARCH STREQUAL "x86_64")
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set(TARGET_PLATFORM "x86")
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message(STATUS "检测到 x86_64 架构")
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elseif(ARCH MATCHES "arm|aarch64")
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set(TARGET_PLATFORM "arm")
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message(STATUS "检测到 ARM 架构: ${ARCH}")
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else()
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message(WARNING "不支持的架构: ${ARCH}. 使用默认设置")
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set(TARGET_PLATFORM "unknown")
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endif()
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# 设置库路径
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set(LIB_DIR "${CMAKE_CURRENT_SOURCE_DIR}/lib")
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message(STATUS "库目录: ${LIB_DIR}")
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# 根据平台设置库名称
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if(TARGET_PLATFORM STREQUAL "arm")
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set(LYD_HOST_API_LIB_NAME "lydHostApi_arm")
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else()
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set(LYD_HOST_API_LIB_NAME "lydHostApi_amd")
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endif()
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# 查找预编译的 lydHostApi 库
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find_library(LYD_HOST_API_LIB
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NAMES
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${LYD_HOST_API_LIB_NAME}
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lib${LYD_HOST_API_LIB_NAME}.a
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lib${LYD_HOST_API_LIB_NAME}.so
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PATHS ${LIB_DIR}
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NO_DEFAULT_PATH
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)
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if(LYD_HOST_API_LIB)
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message(STATUS "找到 lydHostApi 库: ${LYD_HOST_API_LIB}")
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else()
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file(GLOB LIB_FILES "${LIB_DIR}/lib${LYD_HOST_API_LIB_NAME}.*")
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if(LIB_FILES)
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message(STATUS "找到库文件: ${LIB_FILES}")
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set(LYD_HOST_API_LIB ${LIB_FILES})
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else()
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message(FATAL_ERROR "在 ${LIB_DIR} 中找不到预编译的 lydHostApi 库")
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endif()
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endif()
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# 设置公共编译选项
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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# 公共依赖查找
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find_package(PkgConfig REQUIRED)
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find_package(OpenCV REQUIRED COMPONENTS core imgproc highgui)
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find_package(Eigen3 REQUIRED)
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find_package(yaml-cpp REQUIRED)
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find_package(OpenSSL REQUIRED)
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pkg_check_modules(LIBUSB REQUIRED libusb-1.0)
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# 共享包含目录
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include_directories(
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include
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${EIGEN3_INCLUDE_DIRS}
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${OpenCV_INCLUDE_DIRS}
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${yaml-cpp_INCLUDE_DIR}
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${LIBUSB_INCLUDE_DIRS}
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${CMAKE_CURRENT_SOURCE_DIR}/include
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)
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# 共享链接库列表
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set(COMMON_LIBS
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${OpenCV_LIBS}
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${yaml-cpp_LIBRARIES}
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${OPENSSL_LIBRARIES}
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${LIBUSB_LIBRARIES}
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pthread
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rt
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${CMAKE_DL_LIBS}
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${LYD_HOST_API_LIB}
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)
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# ===== ROS1 专属配置 =====
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if(ROS_VERSION STREQUAL "ROS1")
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message(STATUS "配置为 ROS1 构建")
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find_package(catkin REQUIRED COMPONENTS
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roscpp
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std_msgs
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sensor_msgs
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nav_msgs
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cv_bridge
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image_transport
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)
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include_directories(${catkin_INCLUDE_DIRS})
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catkin_package(
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CATKIN_DEPENDS roscpp std_msgs sensor_msgs nav_msgs cv_bridge image_transport
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INCLUDE_DIRS include
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)
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# 设置输出目录
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set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CATKIN_DEVEL_PREFIX}/lib/${PROJECT_NAME})
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set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CATKIN_DEVEL_PREFIX}/lib)
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set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CATKIN_DEVEL_PREFIX}/lib)
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add_executable(host_sdk_sample
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src/host_sdk_sample.cpp
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src/yaml_parser.cpp
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)
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target_link_libraries(host_sdk_sample
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${catkin_LIBRARIES}
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${COMMON_LIBS}
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${LYD_HOST_API_LIB}
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${LIBUSB_LIBRARIES}
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yaml-cpp
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${OpenCV_LIBS}
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pthread
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usb-1.0
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)
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# 安装规则
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install(TARGETS host_sdk_sample
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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install(DIRECTORY include/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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FILES_MATCHING PATTERN "*.h"
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)
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if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/config")
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install(DIRECTORY config/
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config
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)
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endif()
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# ===== ROS2 配置 =====
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elseif(ROS_VERSION STREQUAL "ROS2")
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message(STATUS "配置为 ROS2 构建")
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# 查找所有必要的ROS2包
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find_package(ament_cmake REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(std_msgs REQUIRED)
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find_package(sensor_msgs REQUIRED)
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find_package(nav_msgs REQUIRED)
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find_package(cv_bridge REQUIRED)
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find_package(image_transport REQUIRED)
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# 创建可执行文件
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add_executable(host_sdk_sample
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src/host_sdk_sample.cpp
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src/yaml_parser.cpp
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)
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# 链接库
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target_link_libraries(host_sdk_sample
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${catkin_LIBRARIES}
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${COMMON_LIBS}
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yaml-cpp
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usb-1.0
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)
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# 添加ROS2依赖
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ament_target_dependencies(host_sdk_sample
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rclcpp
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std_msgs
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sensor_msgs
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nav_msgs
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cv_bridge
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image_transport
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)
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# 安装规则 - 确保所有安装目标在 ament_package() 之前定义
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# 安装可执行文件
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install(TARGETS host_sdk_sample
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EXPORT export_${PROJECT_NAME}
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION lib/${PROJECT_NAME}
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)
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# 安装 package.xml
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install(FILES package.xml
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DESTINATION share/${PROJECT_NAME}
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)
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# 安装头文件
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install(DIRECTORY include/
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DESTINATION include
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)
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# 安装 launch_ROS2 目录
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if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/launch_ROS2")
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install(DIRECTORY launch_ROS2/
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DESTINATION share/${PROJECT_NAME}/launch
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)
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message(STATUS "安装 launch_ROS2 目录到 share/${PROJECT_NAME}/launch")
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else()
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message(WARNING "未找到 launch_ROS2 目录")
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endif()
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# 安装配置文件 (如果存在)
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if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/config")
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install(DIRECTORY config/
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DESTINATION share/${PROJECT_NAME}/config
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)
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endif()
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# 安装启动文件 (如果存在)
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if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/launch")
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install(DIRECTORY launch/
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DESTINATION share/${PROJECT_NAME}/launch
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)
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endif()
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ament_export_targets(export_${PROJECT_NAME})
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# 声明依赖
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ament_export_dependencies(
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rclcpp
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std_msgs
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sensor_msgs
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nav_msgs
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cv_bridge
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image_transport
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)
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# 可选的lint检查
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# 完成包配置 - 必须在所有安装规则之后调用
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ament_package()
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message(STATUS "安装目标已添加")
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else()
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message(FATAL_ERROR "无效的 ROS_VERSION: ${ROS_VERSION}")
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endif()
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# ARM平台特定的链接选项
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if(TARGET_PLATFORM STREQUAL "arm")
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set_target_properties(host_sdk_sample PROPERTIES
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LINK_FLAGS "-Wl,--no-as-needed -Wl,--rpath=${LIB_DIR}"
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)
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message(STATUS "添加 ARM 特定的链接选项和 RPATH")
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endif()
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# 添加调试信息
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message(STATUS "=======================================")
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message(STATUS "Project: ${PROJECT_NAME}")
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message(STATUS "ROS 版本: ${ROS_VERSION}")
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message(STATUS "Target platform: ${TARGET_PLATFORM}")
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message(STATUS "lydHostApi library: ${LYD_HOST_API_LIB}")
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message(STATUS "libusb library: ${LIBUSB_LIBRARIES}")
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message(STATUS "=======================================")
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