change ros program for use qt compile.

src/ros/catkin/.catkin_workspace

@@ -1 +1,8 @@
-# This file currently only serves to mark the location of a catkin workspace for tool integration
+<?xml version="1.0"?>
+<Workspace>
+    <Distribution path="/opt/ros/melodic"/>
+    <DefaultBuildSystem value="1"/>
+    <WatchDirectories>
+        <Directory>src</Directory>
+    </WatchDirectories>
+</Workspace>

src/ros/catkin/pilot.workspace

@@ -0,0 +1,8 @@
+<?xml version="1.0"?>
+<Workspace>
+    <Distribution path="/opt/ros/melodic"/>
+    <DefaultBuildSystem value="1"/>
+    <WatchDirectories>
+        <Directory>src</Directory>
+    </WatchDirectories>
+</Workspace>

src/ros/catkin/src/adcpilot.cmake

@@ -1,18 +1,18 @@
 
-include(${CMAKE_SOURCE_DIR}/findqt.cmake)
+include(${CMAKE_CURRENT_SOURCE_DIR}/../findqt.cmake)
 
-find_path(MODULECOMM_INCLUDE_DIR modulecomm.h  ${CMAKE_SOURCE_DIR}/../../../../include )
-find_library(MODULECOMM_LIBRARAY_DIR  modulecomm  ${CMAKE_SOURCE_DIR}/../../../../bin )
+find_path(MODULECOMM_INCLUDE_DIR modulecomm.h  ${CMAKE_CURRENT_SOURCE_DIR}/../../../../../include )
+find_library(MODULECOMM_LIBRARAY_DIR  modulecomm  ${CMAKE_CURRENT_SOURCE_DIR}/../../../../../bin )
 
 if (MODULECOMM_INCLUDE_DIR  AND  MODULECOMM_LIBRARAY_DIR )
   message(STATUS  "FIND  modulecomm")
   include_directories(
-    ${CMAKE_SOURCE_DIR}/../../../../include
-    ${CMAKE_SOURCE_DIR}/../../../../src/include/msgtype
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../../../../include
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../../../../src/include/msgtype
   )
   link_directories(
-    ${CMAKE_SOURCE_DIR}/../../../../bin
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../../../../bin
 )
   else( )
     message(FATAL_ERROR "Not Found modulecomm")
-endif ()
+endif ()

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

@@ -4,7 +4,7 @@ project(controllertocan)
 
 message(STATUS  "Enter controllertocan")
 
-include(${CMAKE_SOURCE_DIR}/findqt.cmake)
+include(${CMAKE_CURRENT_SOURCE_DIR}/../findqt.cmake)
 
 
 ## Find catkin macros and libraries

src/ros/catkin/src/controllertocan_haomo/CMakeLists.txt

@@ -5,7 +5,7 @@ project(controllertocan_haomo)
 message(STATUS  "Enter controllertocan_haomo")
 
 
-include(${CMAKE_SOURCE_DIR}/findqt.cmake)
+include(${CMAKE_CURRENT_SOURCE_DIR}/../findqt.cmake)
 
 
 

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

@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 2.8.11)
 project(driver_can_kvaser)
 
-include(${CMAKE_SOURCE_DIR}/findqt.cmake)
+include(${CMAKE_CURRENT_SOURCE_DIR}/../findqt.cmake)
 
 
 ## Find catkin macros and libraries

src/ros/catkin/src/driver_can_nvidia/CMakeLists.txt

@@ -5,7 +5,7 @@ project(driver_can_nvidia)
 message(STATUS  "Enter driver_can_nvidia")
 
 
-include(${CMAKE_SOURCE_DIR}/findqt.cmake)
+include(${CMAKE_CURRENT_SOURCE_DIR}/../findqt.cmake)
 
 
 

src/ros/catkin/src/opendrive_if/CMakeLists.txt

@@ -5,44 +5,10 @@ project(opendrive_if)
 message(STATUS  "Enter opendrive_if")
 
 
-SET(QT_PATH  /usr/include/x86_64-linux-gnu/qt5)
-SET(QT2_PATH  /usr/include/x86_64-linux-gnu/qt5)
-SET(AGX_QT_PATH  /usr/include/aarch64-linux-gnu/qt5)
+include(${CMAKE_CURRENT_SOURCE_DIR}/../adcpilot.cmake)
 
-find_path(QT_EXIST   QtCore   ${QT_PATH}/include/QtCore  ${AGX_QT_PATH}/QtCore  ${QT2_PATH}/QtCore)
 
-if(QT_EXIST)
-include_directories(
-  ${QT_PATH}/include
-  ${QT_PATH}/include/QtCore
-  ${AGX_QT_PATH}
-  ${AGX_QT_PATH}/QtCore
-    ${QT2_PATH}
-    ${QT2_PATH}/QtCore
-)
-link_directories(
-  ${QT_PATH}/lib
-)
-else()
-  message(FATAL_ERROR "Please set QT_PATH")
-endif()
-
-
-find_path(MODULECOMM_INCLUDE_DIR modulecomm.h  ${CMAKE_SOURCE_DIR}/../../../../include )
-find_library(MODULECOMM_LIBRARAY_DIR  modulecomm  ${CMAKE_SOURCE_DIR}/../../../../bin )
-
-if (MODULECOMM_INCLUDE_DIR  AND  MODULECOMM_LIBRARAY_DIR )
-  message(STATUS  "FIND  modulecomm")
-  include_directories(
-    ${CMAKE_SOURCE_DIR}/../../../../include
-    ${CMAKE_SOURCE_DIR}/../../../../src/include/msgtype
-  )
-  link_directories(
-    ${CMAKE_SOURCE_DIR}/../../../../bin
-)
-  else( )
-    message(FATAL_ERROR "Not Found modulecomm")
-endif ()
+include(./../adcpilot.cmake)
 
 
 

src/ros/catkin/src/pilottoros/CMakeLists.txt

@@ -4,7 +4,7 @@ project(pilottoros)
 
 message(STATUS  "Enter pilottoros")
 
-include(${CMAKE_SOURCE_DIR}/adcpilot.cmake)
+include(${CMAKE_CURRENT_SOURCE_DIR}/../adcpilot.cmake)
 
 
 ## Find catkin macros and libraries

src/ros/catkin/src/rostopilot/CMakeLists.txt

@@ -4,7 +4,7 @@ project(rostopilot)
 
 message(STATUS  "Enter rostopilot")
 
-include(${CMAKE_SOURCE_DIR}/adcpilot.cmake)
+include(${CMAKE_CURRENT_SOURCE_DIR}/../adcpilot.cmake)
 
 
 find_package(autoware_msgs REQUIRED)

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

@@ -4,7 +4,7 @@ project(rtk_hcp2)
 
 message(STATUS  "Enter rtk_hcp2")
 
-include(${CMAKE_SOURCE_DIR}/findqt.cmake)
+include(${CMAKE_CURRENT_SOURCE_DIR}/../findqt.cmake)
 
 
 ## Find catkin macros and libraries
@@ -89,4 +89,4 @@ install(
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
+)

src/ros/catkin/src/rtk_hcp2_baselink/CMakeLists.txt

@@ -4,7 +4,7 @@ project(rtk_hcp2_baselink)
 
 message(STATUS  "Enter rtk_hcp2_baselink")
 
-include(${CMAKE_SOURCE_DIR}/findqt.cmake)
+include(${CMAKE_CURRENT_SOURCE_DIR}/../findqt.cmake)
 
 
 ## Find catkin macros and libraries

src/ros/catkin/src/rtk_nav992/CMakeLists.txt

@@ -5,7 +5,7 @@ project(rtk_nav992)
 message(STATUS  "Enter rtk_nav992")
 add_compile_options(-std=c++14)
 
-include(${CMAKE_SOURCE_DIR}/findqt.cmake)
+include(${CMAKE_CURRENT_SOURCE_DIR}/../findqt.cmake)
 
 
 

src/ros/catkin/src/testrosmodulecomm/CMakeLists.txt

@@ -4,7 +4,7 @@ project(testrosmodulecomm)
 
 message(STATUS  "Enter testrosmodulecomm")
 
-include(${CMAKE_SOURCE_DIR}/adcpilot.cmake)
+include(${CMAKE_CURRENT_SOURCE_DIR}/../adcpilot.cmake)
 
 
 ## Find catkin macros and libraries

src/ros/catkin/src/vtd_ros/CMakeLists.txt

@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 2.8.11)
 project(vtd_ros)
 
-include(${CMAKE_SOURCE_DIR}/adcpilot.cmake)
+include(${CMAKE_CURRENT_SOURCE_DIR}/../adcpilot.cmake)
 
 
 find_package(autoware_build_flags REQUIRED)
@@ -92,4 +92,4 @@ install(
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
+)

src/ros/catkin/src/vtd_ros/src/main.cpp

@@ -20,6 +20,8 @@
 static std::string _pose_topic = "/current_pose";
 static std::string _twist_topic =  "/current_velocity";
 
+#include "vtd_autoware.h"
+
 
 int main(int argc, char *argv[])
 {
@@ -34,7 +36,9 @@ int main(int argc, char *argv[])
     std::cout<<"pose_topic  is "<<_pose_topic<<std::endl;
 	std::cout<<"twist_topic : "<<_twist_topic<<std::endl;
 
-
+    vtd_autoware * pvtd_autoware = new vtd_autoware();
+    (void)pvtd_autoware;
+    pvtd_autoware->createROSPubSub();
 
 ros::spin();
 

src/ros/catkin/src/vtd_ros/src/vtd_autoware.cpp

@@ -12,12 +12,13 @@
 vtd_autoware::vtd_autoware()
 : private_nh_("~")
 {
-
+    mpthread = new std::thread(&vtd_autoware::threadobject,this);
 }
 
 vtd_autoware::~vtd_autoware()
 {
-
+    mbRun = false;
+    mpthread->join();
 }
 
 void vtd_autoware::createROSPubSub()
@@ -31,7 +32,7 @@ void vtd_autoware::ConvertToObjectArray(std::vector<iv::vtd::rdbdata> & xvectorr
     int i;
     int j;
     std::cout<<" obj size: "<<xvectorrdbdata.size()<<std::endl;
-    for(i=0;i<(int)xvectorrdbdata.size();i++)
+    for(i=0;i<static_cast<int>(xvectorrdbdata.size());i++)
     {
         iv::vtd::rdbdata * prdbdata = &xvectorrdbdata[i];
         for(j=0;j<prdbdata->mrdbitem_size();j++)
@@ -150,11 +151,13 @@ void vtd_autoware::threadobject()
             autoware_msgs::DetectedObjectArray objects;
           //  iv::fusion::fusionobjectarray  xfusionarray;
           //  ConvertToObjectArray(xvectorrdbdata,xfusionarray);
+
             ConvertToObjectArray(xvectorrdbdata,objects);
 
             pub_objects_.publish(objects);
 
                 objects.header.frame_id = "vtd";
+
             objects.header.seq = nseq;
 //          objects.header.stamp = 1;
 

src/ros/catkin/src/vtd_ros/src/vtd_autoware.h

@@ -58,6 +58,7 @@ private:
 
 
 
+
 };
 
 #endif // VTD_PILOT_H