merge conflict fix

zhanghm1995 · Jul 22, 2018 · c4373f5 · c4373f5
2 parents 4b1d1dc + f54d340
commit c4373f5
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Showing 17 changed files with 683 additions and 377 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -26,14 +26,13 @@ set(PACKAGE_DEPENDENCIES
 ###### find packages #########
 ##############################
 find_package(catkin REQUIRED COMPONENTS ${PACKAGE_DEPENDENCIES} message_generation)
-find_package(ivcommon REQUIRED)
-find_package(sensor_driver REQUIRED)
 set(BUILD_SHARED_LIBS OFF)
-include("${IVCOMMON_CMAKE_DIR}/functions.cmake")
-google_initialize_ivcommon_project()
+
+
+
 
 include(FindPkgConfig) #zhanghm: what mean?
-find_package(LuaGoogle REQUIRED)
+
 find_package(PCL REQUIRED)
 #set(OpenCV_DIR /usr/local/share/OpenCV)
 find_package(OpenCV REQUIRED)
@@ -53,7 +52,7 @@ catkin_package(
 )
 
 #include headers
-include_directories(SYSTEM  ${catkin_INCLUDE_DIRS} ${sensor_driver_INCLUDE_DIRS} ${ivcommon_INCLUDE_DIRS} ${LUA_INCLUDE_DIR} ${PCL_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIR} src include)
+include_directories(SYSTEM  ${catkin_INCLUDE_DIRS}  ${PCL_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIR} src include)
 include_directories(${OpenCV_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
 
 set(SRC_LIST src/TypeDef.h src/object_detection_radar.h src/frontal_delphi_radar.cpp src/main.cpp src/object_detection_radar.cpp)
@@ -62,29 +61,32 @@ set(SRC_LIST src/TypeDef.h src/object_detection_radar.h src/frontal_delphi_radar
 ##############################
 
 add_executable(frontal_delphi_radar ${SRC_LIST})
-target_link_libraries(frontal_delphi_radar PUBLIC ${catkin_LIBRARIES}  ${ivcommon_LIBRARIES}  
+target_link_libraries(frontal_delphi_radar PUBLIC ${catkin_LIBRARIES}
 										${PCL_LIBRARIES}  
 										${Boost_LIBRARIES}  
-										${OpenCV_LIBS} 
-										${sensor_driver_LIBRARIES} 
-										utils ivsensor glog gflags )
+										${OpenCV_LIBS})
 add_executable(get_radar_data src/get_radar_data.cpp src/frontal_delphi_radar.cpp)
-target_link_libraries(get_radar_data ${catkin_LIBRARIES}  ${ivcommon_LIBRARIES}  ${Boost_LIBRARIES} ${sensor_driver_LIBRARIES})
+target_link_libraries(get_radar_data ${catkin_LIBRARIES}  ${Boost_LIBRARIES})
+
+add_executable(get_ECU src/getECU.cpp src/AnalysisECU.cpp)
+target_link_libraries(get_ECU ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 ##############################
 ###### install packages #########
 ##############################
-install(TARGETS frontal_delphi_radar get_radar_data
+install(DIRECTORY launch DESTINATION share/frontal_delphi_radar/)
+
+install(TARGETS frontal_delphi_radar get_radar_data get_ECU
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 
 install(
-  TARGETS frontal_delphi_radar get_radar_data
+  TARGETS frontal_delphi_radar get_radar_data get_ECU
   EXPORT frontal_delphi_radarExport
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
 )
 
-set(CUDA_USE_STATIC_CUDA_RUNTIME OFF)
+set(CUDA_USE_STATIC_CUDA_RUNTIME OFF)
diff --git a/README.md b/README.md
@@ -0,0 +1,31 @@
+# frontal_delphi_radar
+## 毫米波雷达目标属性含义
+对于每一个雷达目标点，有如下属性
+`target_ID`
+`range`
+`v`
+`angle`
+`x`
+`y`
+`x`
+`valid`
+`status`
+`moving`
+`moving_fast`
+`moving_slow`
+
+## ROS related
+## Nodes
+### Node: get_radar_data(get_radar_data.cpp)
+获取并解析雷达数据，发布毫米波雷达数据话题
+#### Subscribed Topics
+- **`/ecu_data`**([std_msgs::Float32])
+- **`/imudata`**([sensor_msgs::Imu])
+#### Published Topics
+- **`radardata`**([frontal_delphi_radar::RadarData])
+### Node: frontal_delphi_radar（main.cpp)
+雷达点可视化
+#### Subscribed Topics
+- **`/radardata`**([frontal_delphi_radar::RadarData])
+#### Published Topics
+
diff --git a/launch/frontal_delphi_radar.launch b/launch/frontal_delphi_radar.launch
@@ -1,34 +1,19 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <launch>
-  <param name="robot_description"
-    textfile="$(find sensor_driver)/urdf/multivelodyne_3d.urdf" />
-
-  <node name="robot_state_publisher" pkg="robot_state_publisher"
-    type="robot_state_publisher" />
-
-  <arg name="rviz" default="true" />
+  <arg name="vehicle_name"		default="BYD_TANG"/> <!--BYD_TANG, HUACHEN-->
+  <arg name="listen_port"		  default="9001"/>
 
-
-  <arg name="configfile" default="$(find sensor_driver)/config/configmulti.xml" />
-  <arg name="logdir" default="--log_dir=/home/zhanghm/catkin_ws/log" />
-  <arg name="glogparam" default="--logtostderr=0  --colorlogtostderr=1 --stderrthreshold=5   $(arg logdir)" />
-
-  <node pkg="sensor_driver" type="masternode" name="masternode" args="$(arg glogparam)" output="screen">
-  	<param name="config_file" value="$(arg configfile)"/>
+  <!--get vehicel ECU data-->
+  <node pkg="frontal_delphi_radar" type="get_ECU" name="get_ecudata" output="screen">
+		<param name="vehicle_name"		value="$(arg vehicle_name)"/>
+		<param name="listen_port"		value="$(arg listen_port)"/>
   </node>
 
-  <node pkg="sensor_driver" type="getecudata" name="getecudata" args="--logtostderr=0  --colorlogtostderr=1 --stderrthreshold=2   $(arg logdir)" output="screen">
-  </node>
-
-  <node pkg="sensor_driver" type="getinsdata" name="getinsdata" args="--logtostderr=0  --colorlogtostderr=1 --stderrthreshold=2   $(arg logdir)" output="screen">
+  <node pkg="frontal_delphi_radar" type="get_radar_data" name="get_radar_data" output="screen">
   </node>
 
-  <node pkg="frontal_delphi_radar" type="frontal_delphi_radar" name="frontal_delphi_radar" args="--logtostderr=0  --colorlogtostderr=1 --stderrthreshold=0   $(arg logdir)" output="screen">
+  <node pkg="frontal_delphi_radar" type="frontal_delphi_radar" name="frontal_delphi_radar" output="screen">
   </node>
 
-  <node pkg="frontal_delphi_radar" type="get_radar_data" name="get_radar_data" args="--logtostderr=0  --colorlogtostderr=1 --stderrthreshold=0   $(arg logdir)" output="screen">
-  </node>
-
-
 
 </launch>
diff --git a/launch/huachen_frontal_delphi_radar.launch b/launch/huachen_frontal_delphi_radar.launch
@@ -0,0 +1,14 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+
+  <node pkg="frontal_delphi_radar" type="get_ECU" name="get_ecudata" output="screen">
+  </node>
+
+  <node pkg="frontal_delphi_radar" type="get_radar_data" name="get_radar_data" output="screen">
+  </node>
+
+  <node pkg="frontal_delphi_radar" type="frontal_delphi_radar" name="frontal_delphi_radar" output="screen">
+  </node>
+
+
+</launch>
diff --git a/launch/toyota_frontal_delphi_radar.launch b/launch/toyota_frontal_delphi_radar.launch
@@ -0,0 +1,34 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <param name="robot_description"
+    textfile="$(find sensor_driver)/urdf/multivelodyne_3d.urdf" />
+
+  <node name="robot_state_publisher" pkg="robot_state_publisher"
+    type="robot_state_publisher" />
+
+  <arg name="rviz" default="true" />
+
+
+  <arg name="configfile" default="$(find sensor_driver)/config/configmulti.xml" />
+  <arg name="logdir" default="--log_dir=/home/zhanghm/catkin_ws/log" />
+  <arg name="glogparam" default="--logtostderr=0  --colorlogtostderr=1 --stderrthreshold=5   $(arg logdir)" />
+
+  <node pkg="sensor_driver" type="masternode" name="masternode" args="$(arg glogparam)" output="screen">
+  	<param name="config_file" value="$(arg configfile)"/>
+  </node>
+
+  <node pkg="sensor_driver" type="getecudata" name="getecudata" args="--logtostderr=0  --colorlogtostderr=1 --stderrthreshold=2   $(arg logdir)" output="screen">
+  </node>
+
+  <node pkg="sensor_driver" type="getinsdata" name="getinsdata" args="--logtostderr=0  --colorlogtostderr=1 --stderrthreshold=2   $(arg logdir)" output="screen">
+  </node>
+
+  <node pkg="frontal_delphi_radar" type="frontal_delphi_radar" name="frontal_delphi_radar" args="--logtostderr=0  --colorlogtostderr=1 --stderrthreshold=0   $(arg logdir)" output="screen">
+  </node>
+
+  <node pkg="frontal_delphi_radar" type="get_radar_data" name="get_radar_data" args="--logtostderr=0  --colorlogtostderr=1 --stderrthreshold=0   $(arg logdir)" output="screen">
+  </node>
+
+
+
+</launch>
diff --git a/msg/RadarData.msg b/msg/RadarData.msg
@@ -1,3 +1,7 @@
 std_msgs/Header header
 RadarPoint[64] delphi_detection_array
 uint8 ACC_Target_ID
+float32 ESR_vehicle_speed
+float32 ESR_yaw_rate
+float32 vehicle_speed_origin
+float32 yaw_rate_origin
diff --git a/package.xml b/package.xml
@@ -17,13 +17,10 @@
   <build_depend>message_generation</build_depend> 
   <exec_depend>message_runtime</exec_depend>
 
-  <depend>ivcommon</depend>
   <depend>sensor_driver_msgs</depend>
-  <depend>sensor_driver</depend>
   <depend>eigen_conversions</depend>
   <depend>geometry_msgs</depend>
   <depend>libgflags-dev</depend>
-  <depend>libgoogle-glog-dev</depend>
   <depend>nav_msgs</depend>
   <depend>robot_state_publisher</depend>
   <depend>rosbag</depend>