fzirker/wlan_pioneer
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Problem solved that the libraries could not be found with sudo.

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This commit is contained in:
Florian Zirker 2018-12-15 15:21:43 +01:00
parent ffb71e0793
commit e2dd7f2daf
3 changed files with 33 additions and 21 deletions
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6
CMakeLists.txt
View file

@ -34,3 +34,9 @@ link_directories(
add_executable(wlanSignal src/wlanSignal.cpp) add_executable(wlanSignal src/wlanSignal.cpp)
target_link_libraries(wlanSignal ${catkin_LIBRARIES} wifi-scan) target_link_libraries(wlanSignal ${catkin_LIBRARIES} wifi-scan)
add_dependencies(wlanSignal wlan_pioneer_generate_messages_cpp) add_dependencies(wlanSignal wlan_pioneer_generate_messages_cpp)
SET(CMAKE_INSTALL_RPATH ${catkin_LIBRARIES})
SET(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
SET(CMAKE_EXE_LINKER_FLAGS "-Wl,--disable-new-dtags")

40
launch/pioneerMasterLaunchFile.launch
View file

@ -8,32 +8,30 @@
<arg name="Transform" value="1" /> <arg name="Transform" value="1" />
<arg name="Dashboard" value="0" /> <arg name="Dashboard" value="0" />
<arg name="enableMotor" value="1" /> <arg name="enableMotor" value="1" />
<arg name="enableWlanScan" value="1" /> <arg name="enableWlanScan" value="1" />
<arg name="enableGmapping" value="1" /> <arg name="enableGmapping" value="1" />
<arg name="enableBagging" value="1" /> <arg name="enableBagging" value="1" />
<!-- Set wifi interface and start wlan logging --> <!-- Set wifi interface and start wlan logging -->
<group if="$(arg enableWlanScan)" > <group if="$(arg enableWlanScan)" >
<param name="wlan_interface_2G4" type="string" value="wlx801f02c608aa" /> <include file="$(find wlan_pioneer)/launch/wlanSignal.launch"/>
<param name="wlan_interface_5G" type="string" value="wlx801f02c608aa" /> </group>
<node pkg="wlan_pioneer" name="wlanSignal" type="wlanSignal" />
</group>
<!-- Enable the motor with rostopic pub --> <!-- Enable the motor with rostopic pub -->
<group if="$(arg enableMotor)" > <group if="$(arg enableMotor)" >
<node name="rostopic" pkg="rostopic" type="rostopic" args="pub -1 /cmd_motor_state p2os_msgs/MotorState 1"/> <node name="rostopic" pkg="rostopic" type="rostopic" args="pub -1 /cmd_motor_state p2os_msgs/MotorState 1"/>
</group> </group>
<!-- Start the p2os ROS Driver --> <!-- Start the p2os ROS Driver -->
<group if="$(arg P2OS_Driver)" > <group if="$(arg P2OS_Driver)" >
<node pkg="p2os_driver" name="p2os_driver" type="p2os_driver"/> <node pkg="p2os_driver" name="p2os_driver" type="p2os_driver"/>
</group> </group>
<!-- Start the Dashboard --> <!-- Start the Dashboard -->
<group if="$(arg Dashboard)"> <group if="$(arg Dashboard)">
<node pkg="p2os_dashboard" name="p2os_dashboard" type="p2os_dashboard"/> <node pkg="p2os_dashboard" name="p2os_dashboard" type="p2os_dashboard"/>
</group> </group>
<!-- Start the teleoperation node for keyboard control --> <!-- Start the teleoperation node for keyboard control -->
<group if="$(arg KeyboardTeleop)"> <group if="$(arg KeyboardTeleop)">
<include file="$(find p2os_launch)/launch/teleop_keyboard.launch" /> <include file="$(find p2os_launch)/launch/teleop_keyboard.launch" />
@ -41,34 +39,34 @@
<!-- Start the teleoperation node for joystick control --> <!-- Start the teleoperation node for joystick control -->
<group if="$(arg JoystickTeleop)"> <group if="$(arg JoystickTeleop)">
<include file="$(find p2os_launch)/launch/teleop_joy.launch" /> <include file="$(find p2os_launch)/launch/teleop_joy.launch" />
</group> </group>
<!-- Publish the required transform --> <!-- Publish the required transform -->
<group if="$(arg Transform)"> <group if="$(arg Transform)">
<include file="$(find p2os_launch)/launch/tf_base_link_to_laser.launch" /> <include file="$(find p2os_launch)/launch/tf_base_link_to_laser.launch" />
</group> </group>
<!-- Start the Hokuyo Laser node if Hokuyo Laser is used --> <!-- Start the Hokuyo Laser node if Hokuyo Laser is used -->
<group if="$(arg HokuyoLaser)"> <group if="$(arg HokuyoLaser)">
<include file="$(find p2os_launch)/launch/hokuyo.launch" /> <include file="$(find p2os_launch)/launch/hokuyo.launch" />
</group> </group>
<!-- Start the SICK LMS Laser Node if a SICK Laser is used --> <!-- Start the SICK LMS Laser Node if a SICK Laser is used -->
<group if="$(arg SICKLMSLaser)"> <group if="$(arg SICKLMSLaser)">
<include file="$(find p2os_launch)/launch/sicklms.launch" /> <include file="$(find p2os_launch)/launch/sicklms.launch" />
</group> </group>
<include file="$(find p2os_urdf)/launch/pioneer3dx_urdf.launch"/> <include file="$(find p2os_urdf)/launch/pioneer3dx_urdf.launch"/>
<group if="$(arg enableGmapping)" > <group if="$(arg enableGmapping)" >
<include file="$(find p2os_launch)/launch/gmapping.launch" /> <include file="$(find p2os_launch)/launch/gmapping.launch" />
</group> </group>
<group if="$(arg enableBagging)" > <group if="$(arg enableBagging)" >
<node pkg="rosbag" type="record" name="rosbag_record_wlan" <node pkg="rosbag" type="record" name="rosbag_record_wlan"
args="record -o /tmp/wlan_pioneer /pose /sonar /scan /slam_gmapping/entropy /tf /base_scan /wlan_signal" /> args="record -o /tmp/wlan_pioneer /pose /sonar /scan /slam_gmapping/entropy /tf /base_scan /wlan_signal" />
</group> </group>
</launch> </launch>

8
launch/wlanSignal.launch Normal file
View file

@ -0,0 +1,8 @@
<launch>
<!-- <param name="wlan_interface" type="string" value="wlx74da38ef8aca" /> -->
<!-- <param name="wlan_ssid" type="string" value="HSMA-VPN" /> -->
<node pkg="wlan_pioneer" type="wlanSignal" name="wlanSignal" launch-prefix="sudo -S -E"/>
</launch>