修改ros自定义消息类型ＣｍａｋｅList文件

src/canbus/CMakeLists.txt

@@ -216,8 +216,7 @@ add_executable(canbus
     messagecoder.h
     messagecoder.cpp
  )
-
-
+add_dependencies(canbus ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 target_link_libraries(canbus
     ${catkin_LIBRARIES}
     glog

src/localization/localization.cpp

@@ -108,6 +108,7 @@ void Localization::Stop() {
   serial_gnss.close();
 }
 
+
 int Localization::Analyse(const std::string &strSerialResult,  NMEA0183 &nmea){
 
     LOG(INFO)<<Name()<<"Analyse start\n";

src/localization/localization.h

@@ -18,6 +18,8 @@
 #include <serial/serial.h>  //ROS已经内置了的串口包
 #include "../common/robotapp.h"
 #include "ros/ros.h"
+#include <nmea_msgs/Gpgga.h>
+#include <nmea_msgs/Gprmc.h>
 #include <stdlib.h>
 #include "localizationdata.h"
 
@@ -89,6 +91,8 @@ class Localization : public robot::common::RobotApp{
       return atof(strResult.substr(0, pos).c_str()) + atof(strResult.substr(pos, strResult.length() - pos).c_str())/60;
   }
 
+  //void Nmea0138Analyse( std::string &serial_data, nmea_msgs::Gpgga &gpgga_msg, nmea_msgs::Gprmc);
+
   /**
    * @brief publish data message to other nodes
    * @param nmea
@@ -107,6 +111,7 @@ private:
   uint32_t timeout = 0;
 
   serial::Serial serial_gnss; //声明串口对象
+
 };
 }  // namespace localization
 }  // namespace robot