Marker counter node

AMR_ws/src/custom_bot_nav/CMakeLists.txt

@@ -10,6 +10,7 @@ project(custom_bot_nav)
 find_package(catkin REQUIRED COMPONENTS
   geometry_msgs
   rospy
+  roscpp
   sensor_msgs
   std_msgs
 )
@@ -134,8 +135,10 @@ include_directories(
 ## Declare a C++ executable
 ## With catkin_make all packages are built within a single CMake context
 ## The recommended prefix ensures that target names across packages don't collide
-# add_executable(${PROJECT_NAME}_node src/custom_bot_nav_node.cpp)
-
+ add_executable(${PROJECT_NAME}_count_markers_node src/custom_bot_count_markers.cpp)
+ target_link_libraries(${PROJECT_NAME}_count_markers_node
+   ${catkin_LIBRARIES}
+ )
 ## Rename C++ executable without prefix
 ## The above recommended prefix causes long target names, the following renames the
 ## target back to the shorter version for ease of user use
@@ -147,9 +150,6 @@ include_directories(
 # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 ## Specify libraries to link a library or executable target against
-# target_link_libraries(${PROJECT_NAME}_node
-#   ${catkin_LIBRARIES}
-# )
 
 #############
 ## Install ##

AMR_ws/src/custom_bot_nav/package.xml

@@ -51,14 +51,17 @@
   <buildtool_depend>catkin</buildtool_depend>
   <build_depend>geometry_msgs</build_depend>
   <build_depend>rospy</build_depend>
+  <build_depend>roscpp</build_depend>
   <build_depend>sensor_msgs</build_depend>
   <build_depend>std_msgs</build_depend>
   <build_export_depend>geometry_msgs</build_export_depend>
   <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>roscpp</build_export_depend>
   <build_export_depend>sensor_msgs</build_export_depend>
   <build_export_depend>std_msgs</build_export_depend>
   <exec_depend>geometry_msgs</exec_depend>
   <exec_depend>rospy</exec_depend>
+  <exec_depend>roscpp</exec_depend>
   <exec_depend>sensor_msgs</exec_depend>
   <exec_depend>std_msgs</exec_depend>