ros头文件引用

1. 如何引用自定义头文件
• 引用当前软件包内的头文件

在包的目录include下建test_pack.h文件

#ifndef _TEST_PKG_

#define _TEST_PKG_
#define TEST_PKG_VER "1.0.0"
#define INIT_COUNT 100
int addTwoNum(int a,int b);
#endif

修改CMakeLists.txt参数

include_directories(
include
  ${catkin_INCLUDE_DIRS}
)
2.引用别的包的头文件
catkin_package(
  INCLUDE_DIRS include
#  LIBRARIES test
#  CATKIN_DEPENDS roscpp rospy std_msgs
#  DEPENDS system_lib
)

将包发布，才能使用。

3.引用动态链接库.so文件

mkdir lib

mkdir include/my_pkg

cd include/my_pkg

nano multiply.h

#ifndef _MULTIPLY_H_
#define _MULTIPLY_H_
#ifdef __cpluscplus
extern "c"
{
#endif
    int multiply(int a,int b);
#ifdef __cpluscplus
#endif
#endif

nano multiply.cpp

#include "multiply.h"
int multiply(int a,int b)
{

return a*b;
}

nano my_pkg/src/my_pkg.cpp

#include "ros/ros.h"
#include "std_msgs/String.h"
#include
#include "test/test_pkg.h"
#include "my_pkg/multiply.h"
int main(int argc, char **argv)
{
  ros::init(argc, argv, "example_talker_msg");
  ros::NodeHandle n;
  ros::Publisher pub = n.advertise("message", 1000);
  ros::Rate loop_rate(10);
  int count=multiply(30,5);
  ROS_INFO("test version:%s,init count:%d",TEST_PKG_VER,INIT_COUNT);
  while (ros::ok())
  {
    
    std_msgs::String msg;
    std::stringstream ss;

    ss << "my_pkg" << count;

修改CMakeLists.txt

include_directories(
 include
  ${catkin_INCLUDE_DIRS}
)
link_directories(
  lib
   ${catkin_LIB_DIRS}
)

##

编译

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