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feat(wheel_pos_aprox): linked to the sim and refined calcs

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This commit is contained in:
Mohammad Khalaf
2025-11-24 18:32:31 +01:00
committed by Wessel Tip
parent cb30c58726
commit 1a9254a53e
6 changed files with 219 additions and 65 deletions
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34
src/g2_2025_odometry_pkg/CMakeLists.txt
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@@ -22,6 +22,8 @@ find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(rclcpp REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
@@ -107,19 +109,37 @@ install(DIRECTORY launch config
DESTINATION share/${PROJECT_NAME}/
)
add_executable(odometry_node src/odometry_node.cpp)
# add_executable(odometry_node src/odometry_node.cpp)
ament_target_dependencies(odometry_node rclcpp nav_msgs geometry_msgs)
install(TARGETS
odometry_node
DESTINATION lib/${PROJECT_NAME}
)
# ament_target_dependencies(odometry_node rclcpp nav_msgs geometry_msgs)
# install(TARGETS
# odometry_node
# DESTINATION lib/${PROJECT_NAME}
# )
add_executable(wheel_position_approximator_node src/g2_2025_wheel_approximator_node/nodes/WheelPositionApproximator.cpp)
add_executable(wheel_position_approximator_node
src/g2_2025_wheel_approximator_node/nodes/WheelPositionApproximator.cpp
src/g2_2025_wheel_approximator_node/main.cpp
)
ament_target_dependencies(wheel_position_approximator_node rclcpp nav_msgs geometry_msgs)
add_executable(wheel_data_simulator_node
src/g2_2025_wheel_data_simulator_node/nodes/wheel_data_simulator.cpp
src/g2_2025_wheel_data_simulator_node/main.cpp
src/simulator/Simulator.cpp)
target_include_directories(wheel_data_simulator_node PRIVATE
${CMAKE_CURRENT_SOURCE_DIR}/src
${CMAKE_CURRENT_SOURCE_DIR}/src/g2_2025_wheel_data_simulator_node
)
ament_target_dependencies(wheel_data_simulator_node rclcpp std_msgs)
install(TARGETS
wheel_position_approximator_node
wheel_data_simulator_node
DESTINATION lib/${PROJECT_NAME}
)