new_hand.cpp

  name="google_ads_frame" marginwidth="0" marginheight="0" src="http://pagead2.googlesyndication.com/pagead/ads?client=ca-pub-5572165936844014&dt=1194442938015&lmt=1194190197&format=336x280_as&output=html&correlator=1194442937843&url=file%3A%2F%2F%2FC%3A%2FDocuments%2520and%2520Settings%2Flhh1%2F%E6%A1%8C%E9%9D%A2%2FCLanguage.htm&color_bg=FFFFFF&color_text=000000&color_link=000000&color_url=FFFFFF&color_border=FFFFFF&ad_type=text&ga_vid=583001034.1194442938&ga_sid=1194442938&ga_hid=1942779085&flash=9&u_h=768&u_w=1024&u_ah=740&u_aw=1024&u_cd=32&u_tz=480&u_java=true" frameborder="0" width="336" scrolling="no" height="280" allowtransparency="allowtransparency"> #include <iostream.h>
#include <stdlib.h>

extern void (*_new_handler)();

void no_memory(void)
 {
   cerr << "There is no more memory to allocate.../n";
   exit(0);
 }

void main(void)
 {
   _new_handler = no_memory;

   char *ptr;

   do
   {
     ptr = new char[10000];

     if (ptr)
       cout << "Just allocated 10,000 bytes/n";
   } while (ptr);
 }

有一个ros框架项目,现在有一个cpp文件使用了其他项目的头文件,该如何修改ros项目的cmakelists,使得该cpp文件可以正常编译 cmake_minimum_required(VERSION 3.4) project(ssp_gripper) set(CMAKE_CXX_STANDARD 14) set(CMAKE_CXX_STANDARD_REQUIRED ON) find_package(catkin REQUIRED COMPONENTS roscpp message_generation control_msgs actionlib sensor_msgs xmlrpcpp actionlib_msgs serial ) find_package(Franka 0.9.0 QUIET) if(NOT Franka_FOUND) find_package(Franka 0.8.0 REQUIRED) endif() find_package(aubo_sdk REQUIRED PATHS /home/robot-nanjing/aubo_sdk-0.26.0-rc.1-Linux_x86_64+ce93216/lib/cmake/aubo_sdk NO_DEFAULT_PATH ) add_action_files( DIRECTORY action FILES Grasp.action Homing.action Stop.action Move.action ) add_message_files( DIRECTORY msg FILES GraspEpsilon.msg ) generate_messages(DEPENDENCIES actionlib_msgs) catkin_package( INCLUDE_DIRS include LIBRARIES ssp_gripper CATKIN_DEPENDS roscpp message_runtime control_msgs actionlib sensor_msgs xmlrpcpp actionlib_msgs serial DEPENDS Franka ) add_library(jodellTool2 SHARED IMPORTED) set_target_properties(jodellTool2 PROPERTIES IMPORTED_LOCATION ${CMAKE_CURRENT_SOURCE_DIR}/lib/libjodellTool2.so INTERFACE_INCLUDE_DIRECTORIES ${CMAKE_CURRENT_SOURCE_DIR}/include INTERFACE_INCLUDE_DIRECTORIES ${CMAKE_CURRENT_SOURCE_DIR}/include/dh ) add_library(zgGripperV6 SHARED IMPORTED) set_target_properties(zgGripperV6 PROPERTIES IMPORTED_LOCATION ${CMAKE_CURRENT_SOURCE_DIR}/lib/libzgGripperV6.so INTERFACE_INCLUDE_DIRECTORIES "${CMAKE_CURRENT_SOURCE_DIR}/include;${CMAKE_CURRENT_SOURCE_DIR}/include/zgv6" ) add_library(ssp_gripper src/ssp_gripper.cpp src/jodellgripper.cpp src/dh_device.cpp src/dh_gripper.cpp src/dh_modbus_gripper.cpp src/zg_gripper_v6.cpp src/dh_gripper_ag95.cpp src/dh_ag95/hand_controller.cpp src/dh_ag95/hand_driver.cpp src/dh_ag95/DH_datastream.cpp ) add_dependencies(ssp_gripper ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp ) target_link_libraries(ssp_gripper ${Franka_LIBRARIES} ${catkin_LIBRARIES} jodellTool2 zgGripperV6 ) target_include_directories(ssp_gripper SYSTEM PUBLIC ${Franka_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS} ) target_include_directories(ssp_gripper PUBLIC include ) add_executable(ssp_gripper_node src/ssp_gripper_node.cpp ) add_dependencies(ssp_gripper_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} ssp_gripper ) target_link_libraries(ssp_gripper_node ${catkin_LIBRARIES} ssp_gripper ) target_include_directories(ssp_gripper_node SYSTEM PUBLIC ${catkin_INCLUDE_DIRS} ) ## Installation install(TARGETS ssp_gripper ssp_gripper_node ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) install(DIRECTORY include/${PROJECT_NAME}/ DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} ) install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} ) install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} ) install(FILES lib/libjodellTool2.so lib/libzgGripperV6.so DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}) ## Tools include(${CMAKE_CURRENT_LIST_DIR}/../cmake/ClangTools.cmake OPTIONAL RESULT_VARIABLE CLANG_TOOLS ) if(CLANG_TOOLS) file(GLOB_RECURSE SOURCES ${CMAKE_CURRENT_SOURCE_DIR}/src/*.cpp) file(GLOB_RECURSE HEADERS ${CMAKE_CURRENT_SOURCE_DIR}/include/*.h ${CMAKE_CURRENT_SOURCE_DIR}/src/*.h ) add_format_target(ssp_gripper FILES ${SOURCES} ${HEADERS}) add_tidy_target(ssp_gripper FILES ${SOURCES} DEPENDS ssp_gripper ssp_gripper_node ) endif() #set(CMAKE_INSTALL_RPATH "${CATKIN_PACKAGE_LIB_DESTINATION}") # 测试支持 if(CATKIN_ENABLE_TESTING) find_package(rostest REQUIRED) find_package(GTest REQUIRED) # 包含测试目录 add_subdirectory(ut) endif() ## XSJ add_executable(example_state src/example_state.cpp ) target_link_libraries(example_state ${catkin_LIBRARIES} aubo_sdk::aubo_sdk ) # 设置运行时 rpath,避免手动 export LD_LIBRARY_PATH set_target_properties(example_state PROPERTIES BUILD_RPATH "/home/robot-nanjing/aubo_sdk-0.26.0-rc.1-Linux_x86_64+ce93216/lib" INSTALL_RPATH "/home/robot-nanjing/aubo_sdk-0.26.0-rc.1-Linux_x86_64+ce93216/lib" ) install(TARGETS example_state RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) ## XSJ
最新发布
09-09
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