Magnezijum-Robotics/magrob
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Properly link libi2c to i2cnode

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This commit is contained in:
Pimpest
2025-05-05 18:11:17 +02:00
parent 315ec77812
commit af79f4eb81
2 changed files with 7 additions and 0 deletions
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2
mg_bt/CMakeLists.txt
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@ -46,6 +46,8 @@ target_include_directories(
include include
) )
target_link_libraries(mg_i2cnode i2c)
ament_target_dependencies(mg_bt_executor ${PACKAGE_DEPS}) ament_target_dependencies(mg_bt_executor ${PACKAGE_DEPS})
ament_target_dependencies(mg_i2cnode rclcpp mg_msgs) ament_target_dependencies(mg_i2cnode rclcpp mg_msgs)

5
mg_bt/i2cmodule/i2cnode.cpp
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@ -1,10 +1,13 @@
#include "rclcpp/rclcpp.hpp" #include "rclcpp/rclcpp.hpp"
#include "mg_msgs/srv/i2c.hpp" #include "mg_msgs/srv/i2c.hpp"
extern "C" {
#include <fcntl.h> #include <fcntl.h>
#include <linux/i2c-dev.h> #include <linux/i2c-dev.h>
#include <sys/ioctl.h> #include <sys/ioctl.h>
#include <i2c/smbus.h> #include <i2c/smbus.h>
}
class MgI2c : public rclcpp::Node { class MgI2c : public rclcpp::Node {
using I2cSrv = mg_msgs::srv::I2c; using I2cSrv = mg_msgs::srv::I2c;
@ -30,6 +33,8 @@ class MgI2c : public rclcpp::Node {
int main(int argc, const char* const* argv) { int main(int argc, const char* const* argv) {
rclcpp::init(argc, argv); rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared<MgI2c>("i2cu"));
rclcpp::shutdown();
return 0; return 0;
} }