User Manual

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Now CMakeLists.txt configuration is completed，save and quit。

、

Create ROS Depth camera client node and server

（ 1 ） In the src directory of the package directory, create ros_camera_client.cpp and

ros_camera_server.cpp, and enter sudo touch src/ros_camera_client.cpp

src/ros_camera_server.cpp in the terminal of the package directory, as shown below:

(2) Enter sudo gedit CMakeLists.txt in the terminal of the package directory, configure the

CMakeLists.txt file, and add the following code to the CMakeLists.txt file, as shown below:

add_executable(ros_camera_client src/ros_camera_client.cpp)

target_link_libraries(ros_camera_client ${catkinhps_camera_LIBRARIES} hps3d32175)

add_dependencies(ros_camera_client hps_camera_generate_messages_cpp)

add_executable(ros_camera_server src/ros_camera_server.cpp)

target_link_libraries(ros_camera_server ${catkin_LIBRARIES})

add_dependencies(ros_camera_server hps_camera_generate_messages_cpp)

3 Write ROS Depth camera client node and server

（1）Write server program

①Add head file, code as below:

#include

"ros/ros.h"//ros