添加网络依赖库

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

@@ -15,9 +15,11 @@ include_directories(
   ${QT_PATH}/include
   ${QT_PATH}/include/QtCore
   ${QT_PATH}/include/QtSerialPort
+  ${QT_PATH}/include/QtNetwork
   ${AGX_QT_PATH}
   ${AGX_QT_PATH}/QtCore
   ${AGX_QT_PATH}/QtSerialPort
+  ${AGX_QT_PATH}/QtNetwork
 )
 link_directories(
   ${QT_PATH}/lib
@@ -104,7 +106,7 @@ include_directories(
 
 ## Declare a C++ executable
 add_executable(rtk_nav992 src/main.cpp  src/gnss_coordinate_convert.cpp)
-target_link_libraries(rtk_nav992 ${catkin_LIBRARIES}  ${OpenCV_LIBRARIES}    ${Protobuf_LIBRARIES}   Qt5Core Qt5SerialPort)
+target_link_libraries(rtk_nav992 ${catkin_LIBRARIES}  ${OpenCV_LIBRARIES}    ${Protobuf_LIBRARIES}   Qt5Core Qt5SerialPort Qt5Network)
 
 
 install(
@@ -112,4 +114,4 @@ install(
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
+)

src/ros/catkin/src/rtk_nav992/src/main.cpp

@@ -11,6 +11,9 @@
 #include <stdint.h>
 #include <string>
 
+#include <QUdpSocket>
+#include <QNetworkDatagram>
+
 #include <nav_msgs/Odometry.h>
 #include <geometry_msgs/PointStamped.h>
 #include <geometry_msgs/TwistStamped.h>
@@ -137,10 +140,11 @@ void callback_imu(const sensor_msgs::ImuConstPtr& msg)
 int main(int argc, char **argv)
 {
     //Initiate ROS
-    ros::init(argc, argv, "pilottoros");
+    ros::init(argc, argv, "rtk_nav992");
     ros::NodeHandle private_nh("~");
-	ros::Rate loop_rate(100);
+    ros::Rate loop_rate(100);
 
+    QUdpSocket  *mudpSocketGPSIMU;
 	    
     private_nh.getParam("pose_topic",_pose_topic);
 	private_nh.getParam("twist_topic",_twist_topic);
@@ -165,7 +169,7 @@ int main(int argc, char **argv)
 
     while (ros::ok())
     {
-
+	ros::spinOnce();
         double x_o, y_o;
         double x_now, y_now;
         GaussProjCal(glon0, glat0, &x_o, &y_o);
@@ -215,9 +219,20 @@ int main(int argc, char **argv)
         }
 
 
-        ros::spin();
+        //ros::spin();
         loop_rate.sleep();
     }
 
     return 0;
 }
+
+#if 0
+rostopic pub -r 10 /nav992_devicewist geometry_msgs/Twist "linear:
+  x: 0.0
+  y: 0.0
+  z: 0.0
+angular:
+  x: 0.0
+  y: 0.0
+  z: 1.0"
+#endif