星秒科技tof激光雷达pavo_ros驱动安装与测试

这里要修改一下啊，它的动态配置Cmaklist.txt这样改，如果不改的话找不到动态配置文件生成的头文件，其他的可以参考这篇文章星秒科技tof激光雷达PAVO的ros驱动安装与测试

cmake_minimum_required(VERSION 2.8.3)
project(pavo_ros)

set(PAVO_SDK_PATH "./sdk")
set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}")

file(GLOB PAVO_SDK_SRC
  "${PAVO_SDK_PATH}/src/*.cpp"
  "${PAVO_SDK_PATH}/src/impl/unix/*.cpp"
)


message("PAVO_SDK_SRC:${PAVO_SDK_SRC}")

set(ROS_BUILD_TYPE Debug)

## 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
  rosconsole
  roscpp
  sensor_msgs
  nav_msgs
  tf
  message_generation
  dynamic_reconfigure
)

# dynamic reconfigure
generate_dynamic_reconfigure_options(
   cfg/pavo.cfg
)
## System dependencies are found with CMake's conventions
find_package(Boost REQUIRED COMPONENTS system thread)

//这里修改
catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES pavo_ros
  CATKIN_DEPENDS 
     rosconsole 
     roscpp 
     sensor_msgs 
     dynamic_reconfigure
#  DEPENDS system_lib
)


###########
## Build ##
###########

include_directories(
  include ${
    
    catkin_INCLUDE_DIRS}
  ${
    
    PAVO_SDK_PATH}/include
  ${
    
    catkin_INCLUDE_DIRS}
)

add_executable(pavo_scan_node src/pavo_scan_node.cpp ${
    
    PAVO_SDK_SRC})
target_link_libraries(pavo_scan_node ${
    
    catkin_LIBRARIES})

add_executable(pavo_pcd_node src/pavo_pcd_node.cpp ${
    
    PAVO_SDK_SRC})
target_link_libraries(pavo_pcd_node ${
    
    catkin_LIBRARIES})
#############
## Install ##
#############

install(TARGETS pavo_scan_node pavo_pcd_node 
   ARCHIVE DESTINATION ${
    
    CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${
    
    CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${
    
    CATKIN_PACKAGE_BIN_DESTINATION}
 )

install(DIRECTORY launch rviz sdk
  DESTINATION ${
    
    CATKIN_PACKAGE_SHARE_DESTINATION}
  USE_SOURCE_PERMISSIONS
)