Signed-off-by: Djordje Senicic <[email protected]>
---
.../files/0001-CMakeLists-remote-rpath.patch | 12 ----------
.../append_cfg/map_4ft_by_6ft_border_large.bt | Bin 0 -> 1062 bytes
.../files/append_launch/plsdk_rviz_1443_3d.launch | 26 +++++++++++++++++++++
.../files/append_launch/plsdk_rviz_1642_2d.launch | 26 +++++++++++++++++++++
.../ros-mmwave/mmwave-ros-pkg-master_0.1.0.bb | 12 ++++++----
5 files changed, 60 insertions(+), 16 deletions(-)
delete mode 100644
recipes-ros/ros-mmwave/files/0001-CMakeLists-remote-rpath.patch
create mode 100644
recipes-ros/ros-mmwave/files/append_cfg/map_4ft_by_6ft_border_large.bt
create mode 100644
recipes-ros/ros-mmwave/files/append_launch/plsdk_rviz_1443_3d.launch
create mode 100644
recipes-ros/ros-mmwave/files/append_launch/plsdk_rviz_1642_2d.launch
diff --git a/recipes-ros/ros-mmwave/files/0001-CMakeLists-remote-rpath.patch
b/recipes-ros/ros-mmwave/files/0001-CMakeLists-remote-rpath.patch
deleted file mode 100644
index 4ad4996..0000000
--- a/recipes-ros/ros-mmwave/files/0001-CMakeLists-remote-rpath.patch
+++ /dev/null
@@ -1,12 +0,0 @@
---- CMakeLists.txt 2017-11-22 09:21:14.225928764 -0500
-+++ CMakeLists_new.txt 2017-11-22 09:21:20.758046256 -0500
-@@ -4,6 +4,9 @@
- ## Add support for C++11, supported in ROS Kinetic and newer
- add_definitions(-std=c++11)
-
-+## Skip any hardcoded paths
-+set(CMAKE_SKIP_RPATH true)
-+
- ## Find catkin macros and libraries
- ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
- ## is used, also find other catkin packages
diff --git
a/recipes-ros/ros-mmwave/files/append_cfg/map_4ft_by_6ft_border_large.bt
b/recipes-ros/ros-mmwave/files/append_cfg/map_4ft_by_6ft_border_large.bt
new file mode 100644
index
0000000000000000000000000000000000000000..7c13bde542ea671eb36c61e3d655f864a33c45eb
GIT binary patch
literal 1062
zcma)3u};G<5Ixjp@zQ2sKj;DoK_CLLm4Tfi)k`<GacHDAMM*${KPh{W_!mAV5(5iT
zI6DbWQlRK`_Px93_pWIVuP4c3F7D_aMpEK92u1XWelU})hkL%1GxXIUS)lMdJjTgX
zgtrnWi}_rJNqmUo`vhlFJP>Cp>17lX4nm0{#vs8U-q~k87I=jPi-RYLC+8QZERr!g
zN6s1ZL?RfxInaz0ibw~1zz={ysw<|dYF+J8A2@K$F;%l`GZ<;V6d)Z@4bC&P)}jMh
z9xk^@lya9MQwBP+-})8KN6sBqUQuUzNXbcED_Gp(Mp>cEEi8(DiPS#ITXX2XAuh4O
z%uS`Z2K`-Cn99JW>|WB*rmW09%UL<8%r<x#X1`G3a8*<9E9Wk7)y*gB`w-BPf1eU{
zGO)n%398IdL8N_+m#ONU1_J23z>3Zlot@&&ky0}%rfMkYeSX^DJ^#aO^^4kTyK0rK
e@?G7zj$Cln9$Co+cL~ciyqWPIm2c<PD|`V*jRP_O
literal 0
HcmV?d00001
diff --git
a/recipes-ros/ros-mmwave/files/append_launch/plsdk_rviz_1443_3d.launch
b/recipes-ros/ros-mmwave/files/append_launch/plsdk_rviz_1443_3d.launch
new file mode 100644
index 0000000..df81d9a
--- /dev/null
+++ b/recipes-ros/ros-mmwave/files/append_launch/plsdk_rviz_1443_3d.launch
@@ -0,0 +1,26 @@
+<!--
+ This file will launch rViz along with the mmWave sensor node and configure a
TI mmWave 1443 sensor using a 3D config
+ -->
+
+<launch>
+
+ <!-- Call mmWave sensor launch file -->
+ <include file="$(find ti_mmwave_rospkg)/launch/ti_mmwave_sensor.launch">
+ <arg name="device" value="1443" doc="TI mmWave sensor device type [1443,
1642]"/>
+ <arg name="config" value="3d" doc="TI mmWave sensor device configuration
[3d (not supported by 1642 EVM), 2d]"/>
+ <arg name="max_allowed_elevation_angle_deg" value="90" doc="Maximum
allowed elevation angle in degrees for detected object data [0 > value >=
90]}"/>
+ <arg name="max_allowed_azimuth_angle_deg" value="90" doc="Maximum allowed
azimuth angle in degrees for detected object data [0 > value >= 90]}"/>
+ </include>
+
+ <!-- Static transform from map to base_radar_link for visualization of
stand-alone mmWave sensor using Rviz -->
+ <node pkg="tf" type="static_transform_publisher"
name="static_tf_map_to_odom" args="0 0 0 0 0 0 map odom 100"/>
+ <node pkg="tf" type="static_transform_publisher"
name="static_tf_map_to_base_radar_link" args="0 0 0 0 0 0 base_footprint
base_radar_link 100"/>
+
+ <!-- Map server -->
+ <node name="octomap_server" pkg="octomap_server" type="octomap_server_node"
args="$(find ti_mmwave_rospkg)/cfg/map_4ft_by_6ft_border_large.bt
projected_map:=map cloud_in:=no_input" />
+ <node pkg="fake_localization" type="fake_localization"
name="fake_localization">
+ <param name="use_map_topic" value="true"/>
+ <remap from="base_pose_ground_truth" to="odom"/>
+ </node>
+
+</launch>
diff --git
a/recipes-ros/ros-mmwave/files/append_launch/plsdk_rviz_1642_2d.launch
b/recipes-ros/ros-mmwave/files/append_launch/plsdk_rviz_1642_2d.launch
new file mode 100644
index 0000000..7e4ff78
--- /dev/null
+++ b/recipes-ros/ros-mmwave/files/append_launch/plsdk_rviz_1642_2d.launch
@@ -0,0 +1,26 @@
+<!--
+ This file will launch rViz along with the mmWave sensor node and configure a
TI mmWave 1642 sensor using a 2D config
+ -->
+
+<launch>
+
+ <!-- Call mmWave sensor launch file -->
+ <include file="$(find ti_mmwave_rospkg)/launch/ti_mmwave_sensor.launch">
+ <arg name="device" value="1642" doc="TI mmWave sensor device type [1443,
1642]"/>
+ <arg name="config" value="2d" doc="TI mmWave sensor device configuration
[3d (not supported by 1642 EVM), 2d]"/>
+ <arg name="max_allowed_elevation_angle_deg" value="90" doc="Maximum
allowed elevation angle in degrees for detected object data [0 > value >=
90]}"/>
+ <arg name="max_allowed_azimuth_angle_deg" value="90" doc="Maximum allowed
azimuth angle in degrees for detected object data [0 > value >= 90]}"/>
+ </include>
+
+ <!-- Static transform from map to base_radar_link for visualization of
stand-alone mmWave sensor using Rviz -->
+ <node pkg="tf" type="static_transform_publisher"
name="static_tf_map_to_odom" args="0 0 0 0 0 0 map odom 100"/>
+ <node pkg="tf" type="static_transform_publisher"
name="static_tf_map_to_base_radar_link" args="0 0 0 0 0 0 base_footprint
base_radar_link 100"/>
+
+ <!-- Map server -->
+ <node name="octomap_server" pkg="octomap_server" type="octomap_server_node"
args="$(find ti_mmwave_rospkg)/cfg/map_4ft_by_6ft_border_large.bt
projected_map:=map cloud_in:=no_
+ <node pkg="fake_localization" type="fake_localization"
name="fake_localization">
+ <param name="use_map_topic" value="true"/>
+ <remap from="base_pose_ground_truth" to="odom"/>
+ </node>
+
+</launch>
diff --git a/recipes-ros/ros-mmwave/mmwave-ros-pkg-master_0.1.0.bb
b/recipes-ros/ros-mmwave/mmwave-ros-pkg-master_0.1.0.bb
index 87c5aac..9a984f5 100644
--- a/recipes-ros/ros-mmwave/mmwave-ros-pkg-master_0.1.0.bb
+++ b/recipes-ros/ros-mmwave/mmwave-ros-pkg-master_0.1.0.bb
@@ -1,11 +1,13 @@
DESCRIPTION = "This package contains ROS driver for mmWave TI sensor."
SECTION = "devel"
LICENSE = "BSD"
-LIC_FILES_CHKSUM =
"file://docs/TI_mmWave_ROS_Driver_manifest.pdf;md5=6ee5d8ff5204a889d79a1ffd1812b3c1"
-SRC_URI[base.md5sum] = "f48fe4a1e654f359382fc617667f33c0"
-SRC_URI[base.sha256sum] =
"72b424a1c7568b04f1b583ef46d7716c10f77a0d05f4e950ac6d70991427a073"
-SRC_URI =
"http://dev.ti.com/tirex/content/mmwave_industrial_toolbox_2_0_0/labs/lab0006-ros-driver/lab0006_ros_driver_pjt/ti_mmwave_rospkg_v1p2.zip;name=base;subdir=${P}";
+LIC_FILES_CHKSUM =
"file://docs/TI_mmWave_ROS_Driver_manifest.pdf;md5=da4f1cae75b0590538edcb7e23a325d8"
+SRC_URI[base.md5sum] = "e85370690db8652d9d706aa77facce6a"
+SRC_URI[base.sha256sum] =
"1c88f501f5e9827299b8172d5895e54cb0178a65879f1d1092761cfe0e48bae4"
+SRC_URI =
"http://dev.ti.com/tirex/content/mmwave_industrial_toolbox_2_1_1/labs/lab0006-ros-driver/lab0006_ros_driver_pjt/ti_mmwave_rospkg_v1p2p1.zip;name=base;subdir=${P}";
+SRC_URI += "file://append_launch"
+SRC_URI += "file://append_cfg"
# do not use rpath
EXTRA_OECMAKE_append = " -DCMAKE_SKIP_RPATH=ON"
@@ -23,6 +25,8 @@ do_install_append() {
cp ${S}/mmWave_nodelets.xml ${D}${ros_datadir}/ti_mmwave_rospkg/
cp -r ${S}/cfg ${D}${ros_datadir}/ti_mmwave_rospkg/
cp -r ${S}/launch ${D}${ros_datadir}/ti_mmwave_rospkg/
+ cp ${WORKDIR}/append_launch/*.launch
${D}${ros_datadir}/ti_mmwave_rospkg/launch/.
+ cp ${WORKDIR}/append_cfg/*.bt ${D}${ros_datadir}/ti_mmwave_rospkg/cfg/.
}
FILES_${PN} += "${ros_libdir}/ti_mmwave_rospkg"
--
1.9.1
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