修改感知层配置文件

src/perception/CMakeLists.txt

@@ -2,13 +2,13 @@ cmake_minimum_required(VERSION 2.8.3)
 project(perception)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
-# add_compile_options(-std=c++11)
+add_compile_options(-std=c++11)
 
 ## Find catkin macros and libraries
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
 ## is used, also find other catkin packages
 find_package(catkin REQUIRED COMPONENTS
-  roscpp message_generation std_msgs rospy
+  roscpp std_msgs canbus
 )
 
 ## System dependencies are found with CMake's conventions
@@ -66,10 +66,10 @@ find_package(catkin REQUIRED COMPONENTS
 # )
 
 ## Generate added messages and services with any dependencies listed here
-# generate_messages(
-#   DEPENDENCIES
-#   std_msgs  # Or other packages containing msgs
-# )
+#generate_messages(
+#  DEPENDENCIES
+#  std_msgs  # Or other packages containing msgs
+#)
 
 ################################################
 ## Declare ROS dynamic reconfigure parameters ##
@@ -103,6 +103,8 @@ find_package(catkin REQUIRED COMPONENTS
 catkin_package(
 #  INCLUDE_DIRS include
 #  LIBRARIES perception
+#  CATKIN_DEPENDS
+#  message_runtime
 #  CATKIN_DEPENDS roscpp message_generation std_msgs rospy
 #  DEPENDS system_lib
 )
@@ -116,6 +118,7 @@ catkin_package(
 include_directories(
 # include
   ${catkin_INCLUDE_DIRS}
+  /usr/local/include
 )
 
 ## Declare a C++ library
@@ -202,3 +205,20 @@ include_directories(
 
 ## Add folders to be run by python nosetests
 # catkin_add_nosetests(test)
+
+add_executable(perception
+    ../common/time.h
+    ../common/gloghelper.h
+    ../common/gloghelper.cpp
+    ../common/robotapp.h
+    ../common/robotapp.cpp
+    ../canbus/candatatype.h
+    perception_app.cpp
+    perception.h
+    perception.cpp
+ )
+
+target_link_libraries(perception
+    ${catkin_LIBRARIES}
+    glog
+    gflags)

src/perception/package.xml

@@ -53,6 +53,7 @@
   <build_depend>roscpp message_generation std_msgs rospy</build_depend>
   <build_export_depend>roscpp message_generation std_msgs rospy</build_export_depend>
   <exec_depend>roscpp message_generation std_msgs rospy</exec_depend>
+  <exec_depend>message_runtime</exec_depend>
 
 
   <!-- The export tag contains other, unspecified, tags -->