Interaction of the walker module and main control

2019-01-17 17:30:43 +01:00
parent fe09cce493
commit 171d3c49ff
6 changed files with 91 additions and 33 deletions
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -5,19 +5,35 @@ find_package(catkin REQUIRED COMPONENTS
  cv_bridge
  image_transport
  roscpp
+  rospy
  sensor_msgs
  std_msgs
  tf
  aruco
+  message_generation
 )

+add_service_files(
+    DIRECTORY srv
+    FILES
+    InformController.srv
+)
+
+generate_messages(DEPENDENCIES std_msgs)
 catkin_package(
+    CATKIN_DEPENDS message_runtime
 )

 include_directories(
  ${catkin_INCLUDE_DIRS}
 )

+catkin_install_python(PROGRAMS
+    ./script/controller.py
+    ./script/walker.py
+    DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
 add_executable(aruco_detector src/aruco_detector.cpp)
 add_executable(aruco_effector src/aruco_effector.cpp)
 target_link_libraries(aruco_detector ${catkin_LIBRARIES} ${aruco_LIB})