基于ros2控制海康网络摄像机的云台控制与视频显示

cmake_minimum_required(VERSION 3.8) project(hik_ros2_driver) if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") add_compile_options(-Wall -Wextra -Wpedantic) endif() # find dependencies find_package(ament_cmake REQUIRED) find_package(rclcpp REQUIRED) find_package(std_msgs REQUIRED) find_package(cv_bridge REQUIRED) find_package(sensor_msgs REQUIRED) find_package(hik_camera_interfaces REQUIRED) find_package(rclpy REQUIRED) #添加头文件 include_directories(include) add_library(hik_camera src/hik_camera.cpp ) ament_target_dependencies(hik_camera rclcpp std_msgs cv_bridge hik_camera_interfaces) target_link_libraries(hik_camera ${PROJECT_SOURCE_DIR}/lib/libAudioRender.so ${PROJECT_SOURCE_DIR}/lib/libcrypto.so.1.1 ${PROJECT_SOURCE_DIR}/lib/libHCCore.so ${PROJECT_SOURCE_DIR}/lib/libhcnetsdk.so ${PROJECT_SOURCE_DIR}/lib/libhpr.so ${PROJECT_SOURCE_DIR}/lib/libNPQos.so ${PROJECT_SOURCE_DIR}/lib/libopenal.so.1 ${PROJECT_SOURCE_DIR}/lib/libPlayCtrl.so ${PROJECT_SOURCE_DIR}/lib/libssl.so.1.1 ${PROJECT_SOURCE_DIR}/lib/libSuperRender.so ${PROJECT_SOURCE_DIR}/lib/libz.so ${PROJECT_SOURCE_DIR}/lib/HCNetSDKCom/libanalyzedata.so ${PROJECT_SOURCE_DIR}/lib/HCNetSDKCom/libAudioIntercom.so ${PROJECT_SOURCE_DIR}/lib/HCNetSDKCom/libHCAlarm.so ${PROJECT_SOURCE_DIR}/lib/HCNetSDKCom/libHCCoreDevCfg.so ${PROJECT_SOURCE_DIR}/lib/HCNetSDKCom/libHCDisplay.so ${PROJECT_SOURCE_DIR}/lib/HCNetSDKCom/libHCGeneralCfgMgr.so ${PROJECT_SOURCE_DIR}/lib/HCNetSDKCom/libHCIndustry.so ${PROJECT_SOURCE_DIR}/lib/HCNetSDKCom/libHCPlayBack.so ${PROJECT_SOURCE_DIR}/lib/HCNetSDKCom/libHCPreview.so ${PROJECT_SOURCE_DIR}/lib/HCNetSDKCom/libHCVoiceTalk.so ${PROJECT_SOURCE_DIR}/lib/HCNetSDKCom/libiconv2.so ${PROJECT_SOURCE_DIR}/lib/HCNetSDKCom/libStreamTransClient.so ${PROJECT_SOURCE_DIR}/lib/HCNetSDKCom/libSystemTransform.so ) # 定义可执行文件 add_executable(hik_camera_app src/hik_camera_app.cpp) # 添加依赖 ament_target_dependencies(hik_camera_app rclcpp std_msgs) target_link_libraries(hik_camera_app hik_camera ) # c 安装目标文件 install(TARGETS hik_camera_app DESTINATION lib/${PROJECT_NAME}) #将动态链接库复制到运行环境的lib install(FILES ${PROJECT_SOURCE_DIR}/lib/libAudioRender.so ${PROJECT_SOURCE_DIR}/lib/libcrypto.so.1.1 ${PROJECT_SOURCE_DIR}/lib/libHCCore.so ${PROJECT_SOURCE_DIR}/lib/libhcnetsdk.so ${PROJECT_SOURCE_DIR}/lib/libhpr.so ${PROJECT_SOURCE_DIR}/lib/libNPQos.so ${PROJECT_SOURCE_DIR}/lib/libopenal.so.1 ${PROJECT_SOURCE_DIR}/lib/libPlayCtrl.so ${PROJECT_SOURCE_DIR}/lib/libssl.so.1.1 ${PROJECT_SOURCE_DIR}/lib/libSuperRender.so ${PROJECT_SOURCE_DIR}/lib/libz.so ${PROJECT_SOURCE_DIR}/lib/HCNetSDKCom/libanalyzedata.so ${PROJECT_SOURCE_DIR}/lib/HCNetSDKCom/libAudioIntercom.so ${PROJECT_SOURCE_DIR}/lib/HCNetSDKCom/libHCAlarm.so ${PROJECT_SOURCE_DIR}/lib/HCNetSDKCom/libHCCoreDevCfg.so ${PROJECT_SOURCE_DIR}/lib/HCNetSDKCom/libHCDisplay.so ${PROJECT_SOURCE_DIR}/lib/HCNetSDKCom/libHCGeneralCfgMgr.so ${PROJECT_SOURCE_DIR}/lib/HCNetSDKCom/libHCIndustry.so ${PROJECT_SOURCE_DIR}/lib/HCNetSDKCom/libHCPlayBack.so ${PROJECT_SOURCE_DIR}/lib/HCNetSDKCom/libHCPreview.so ${PROJECT_SOURCE_DIR}/lib/HCNetSDKCom/libHCVoiceTalk.so ${PROJECT_SOURCE_DIR}/lib/HCNetSDKCom/libiconv2.so ${PROJECT_SOURCE_DIR}/lib/HCNetSDKCom/libStreamTransClient.so ${PROJECT_SOURCE_DIR}/lib/HCNetSDKCom/libSystemTransform.so DESTINATION lib ) #python # Install Python modules ament_python_install_package(${PROJECT_NAME}) # Install Python executables install(PROGRAMS scripts/video_play.py scripts/ptz_contrl.py DESTINATION lib/${PROJECT_NAME} ) if(BUILD_TESTING) find_package(ament_lint_auto REQUIRED) # the following line skips the linter which checks for copyrights # comment the line when a copyright and license is added to all source files set(ament_cmake_copyright_FOUND TRUE) # the following line skips cpplint (only works in a git repo) # comment the line when this package is in a git repo and when # a copyright and license is added to all source files set(ament_cmake_cpplint_FOUND TRUE) ament_lint_auto_find_test_dependencies() endif() # stand for hik_ros2_driver/include #ament_package(INCLUDE_DIRS include) ament_package()