change ros/catkin. for change README.md and change some CMakeList.txt and package.xml for colcon compile.

src/ros/catkin/README.md

@@ -34,5 +34,21 @@ ros消息转换到我们系统
 华测P2适配Autoware的驱动，p2的数据直接获得current_pose。
 
 
+## 其它说明
+如果用colcon编译，先运行sudo apt install -y python3-pip python3-colcon-common-extensions python3-setuptools python3-vcstool
+
+新建colcon文件夹和colcon/src文件夹
+
+将需要编译的文件拷贝进去。
+
+用colcon build进行编译
+colcon build --packages-select YOUR_PKG_NAME 
+
+如果需要编译单独一个工程，用
+
+colcon编译后如果依赖qt需要进行修改，依据当前qt库的位置。
+ patchelf --set-rpath "/opt/qt/5.13.2/gcc_64/lib:/opt/ros/melodic/lib:" controllertocan 
+
+
 
 

src/ros/catkin/src/controllertocan/CMakeLists.txt

@@ -101,6 +101,14 @@ include_directories(
 )
 
 ## Declare a C++ executable
-add_executable(${PROJECT_NAME}_node src/main.cpp src/controller.cpp src/control_status.cpp src/ge3code.cpp src/interpolation_2d.cc src/lookuptable.cpp) 
-target_link_libraries(${PROJECT_NAME}_node ${catkin_LIBRARIES}  ${OpenCV_LIBRARIES}    ${Protobuf_LIBRARIES}   Qt5Core  boost_system  boost_thread  boost_serialization)
+add_executable(controllertocan src/main.cpp src/controller.cpp src/control_status.cpp src/ge3code.cpp src/interpolation_2d.cc src/lookuptable.cpp) 
+target_link_libraries(controllertocan ${catkin_LIBRARIES}  ${OpenCV_LIBRARIES}    ${Protobuf_LIBRARIES}   Qt5Core  boost_system  boost_thread  boost_serialization)
+
+install(
+  TARGETS controllertocan
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
 

src/ros/catkin/src/controllertocan/package.xml

@@ -51,6 +51,9 @@
   <build_depend>sensor_msgs</build_depend>
   <run_depend>sensor_msgs</run_depend>
 
+  <build_depend>autoware_msgs</build_depend>
+  <run_depend>autoware_msgs</run_depend>
+
 
 
 

src/ros/catkin/src/driver_can_kvaser/CMakeLists.txt

@@ -35,6 +35,7 @@ find_package(catkin REQUIRED COMPONENTS
   pluginlib
   sensor_msgs
   adc_system_msg
+  autoware_msgs
 )
 find_package(Boost REQUIRED)
 find_package(Protobuf REQUIRED)
@@ -101,6 +102,12 @@ include_directories(
 )
 
 ## Declare a C++ executable
-add_executable(${PROJECT_NAME}_node src/main.cpp src/basecan.cpp  src/kvasercan.cpp src/canctrl.cpp) 
-target_link_libraries(${PROJECT_NAME}_node ${catkin_LIBRARIES}  ${OpenCV_LIBRARIES}    ${Protobuf_LIBRARIES}   Qt5Core canlib )
-
+add_executable(driver_can_kvaser src/main.cpp src/basecan.cpp  src/kvasercan.cpp src/canctrl.cpp) 
+target_link_libraries(driver_can_kvaser ${catkin_LIBRARIES}  ${OpenCV_LIBRARIES}    ${Protobuf_LIBRARIES}   Qt5Core canlib )
+
+install(
+  TARGETS driver_can_kvaser
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)

src/ros/catkin/src/driver_can_kvaser/package.xml

@@ -51,6 +51,12 @@
   <build_depend>sensor_msgs</build_depend>
   <run_depend>sensor_msgs</run_depend>
 
+  <build_depend>autoware_msgs</build_depend>
+  <run_depend>autoware_msgs</run_depend>
+
+  <build_depend>adc_system_msg</build_depend>
+  <run_depend>adc_system_msg</run_depend>
+
 
 
 

src/ros/catkin/src/rtk_hcp2/CMakeLists.txt

@@ -102,5 +102,13 @@ include_directories(
 )
 
 ## Declare a C++ executable
-add_executable(${PROJECT_NAME}_node src/main.cpp  src/gnss_coordinate_convert.cpp)
-target_link_libraries(${PROJECT_NAME}_node ${catkin_LIBRARIES}  ${OpenCV_LIBRARIES}    ${Protobuf_LIBRARIES}   Qt5Core Qt5SerialPort)
+add_executable(rtk_hcp2 src/main.cpp  src/gnss_coordinate_convert.cpp)
+target_link_libraries(rtk_hcp2 ${catkin_LIBRARIES}  ${OpenCV_LIBRARIES}    ${Protobuf_LIBRARIES}   Qt5Core Qt5SerialPort)
+
+
+install(
+  TARGETS rtk_hcp2
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)