ROS编译:catkin简析
update: catkin_tools
Catkin Command Line Tools:
Installing catkin_tools: sudo apt-get install python-catkin-tools
---------------------------------
1. catkin_make 与cmake的关系
程序在cmake编译是这样的流程, cmake指令依据你的CMakeLists.txt 文件,生成makefiles文件,make再依据此makefiles文件编译链接生成可执行文件.
catkin_make是将cmake与make的编译方式做了一个封装的指令工具, 规范了工作路径与生成文件路径.
1) cmake标准流程
# 在一个CMake项目里
$ mkdir build
$ cd build
$ cmake ..
$ make
$ make install # (可选)
2) catkin_make 的流程
# In a catkin workspace
$ catkin_make
$ catkin_make install # (可选)
如果源码不在默认工作空间,需要指定编译路径:
# In a catkin workspace
$ catkin_make --source my_src
$ catkin_make install --source my_src # (optionally)
2 catkin_make
CMake coding standards
CMake Variables
1) catkin_make默认的路径信息
在catkin_make运行后终端输出文件部分解析
#基本路径
Base path: /home/user/catkin_ws
Source space: /home/user/catkin_ws/src
Build space: /home/user/catkin_ws/build
Devel space: /home/user/catkin_ws/devel
Install space: /home/user/catkin_ws/install
#catkin_make 封装运行中cmake运行的情况
Running command: "cmake /home/user/catkin_ws/src -DCATKIN_DEVEL_PREFIX=/home/user/catkin_ws/devel
-DCMAKE_INSTALL_PREFIX=/home/user/catkin_ws/install" in "/home/user/catkin_ws/build"
#编译工具查找
-- Using CATKIN_DEVEL_PREFIX: /tmp/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/groovy
-- This workspace overlays: /opt/ros/groovy
#编译的包
#catkin_make 封装运行中make运行的情况
#### Running command: "make -j4" in "/home/user/catkin_ws/build"
2) layout :ros工作空间文件系统结构
workspace_folder/ --WORKSPACE
src/ --SOURCE SPACE
CMakeLists.txt/ --This is symlinked to catkin/cmake/toplevel.cmake
package_1/
CMakeLists.txt
package.xml
...
package_n/
CMakeLists.txt
package.xml
build/ --BUILD SPACE(this is where build system is invoked, not necessarily within workspace)
CATKIN_IGNORE --Marking the folder to be ignored when crawling for packages (necessary when source
space is in the root of the workspace, the file is emtpy)
#此选项可用于忽略某个包编译
devel/ --DEVEL SPACE (targets go here, parameterizable, but defaults to peer of Build Space)
# 生成二值 库 可执行文件
bin/
etc/
/include/
lib/
share/
.catkin --Marking the folder as a development space (the file contains a semicolon separated list of Source space paths)
#
env.bash
setup.bash
setup.sh
...
install/ --INSTALL SPACE (this is where installed targets for test installations go, not necessarily within workspace)
bin/
etc/
include/
lib/
share/
.catkin --Marking the folder as an install space (the file is emtpy)
env.bash
setup.bash -- Environment setup file for Bash shell
setup.sh -- Environment setup file for Bourne shell
...
/
opt/
ros/
groovy/
setup.bash -- Environment setup file for Bash shell
setup.sh -- Environment setup file for Bourne shell
setup.zsh -- Environment setup file for zshell
...
工作空间
源空间
编译空间
开发空间
安装空间 -DCMAKE_INSTALL_PREFIX=/any/directorycmake默认是/usr/local
系统安装空间 /opt/ros/ROSDISTRO
结果空间 source RESULT-SPACE/setup.sh 类似扫描安装空间与开发空间,替换系统通用下的对应文件.
3) Overlays
catkin支持覆盖.
catkin支持包的逐层覆盖, 当前最高,其它依据source的顺序逐层变高, 高层可覆盖低层.
Example 4: Overlaying workspace 3 on top of local workspace2 install space on top of workspace1 devel space on top of system install
cd ~/workspace2/build
cmake -DCMAKE_INSTALL_PREFIX=~/ws2_installed ../src
make
make install
source ~/ws2_installed/setup.bash
cd ~/workspace3/build
cmake ../src
make
ros 环境变量设置 可以参考 .bashrc文件： ros工作环境设置
###### slam_ws
source /opt/ros/indigo/setup.bash
source /home/yhzhao/slam_ws/devel/setup.bash
export ROS_PACKAGE_PATH=~/slam_ws/src:$ROS_PACKAGE_PATH
export ROS_WORKSPACE=~/slam_ws/src
4) 混合 Mixing catkin And rosbuild Workspaces
catkin was designed to allow rosbuild packages to sit on top of catkin ones. This is accomplished by using overlays.
~/rosbuild_ws/
dry_pkg1/
...
dry_pkgN/
setup.bash
setup.sh
~/catkin_ws/
src/
wet_pkg1/
...
wet_pkgN/
build/
devel/
setup.bash
setup.sh
install/
setup.bash
setup.sh
注: 我们在系统文件夹下的 .bashrc 中加入相应的source文件, 就是为了添加ros 的环境变量等信息.
Differences in CMakeLists.txt for rosbuild and catkin
5) catkin_make 编译指定的包.
$ catkin_make -DCATKIN_WHITELIST_PACKAGES="package1;package2"
恢复编译所有的包
$ catkin_make -DCATKIN_WHITELIST_PACKAGES=""
3 catkin
catkin/Tutorials
4. package. xml 与 CMakeList. txt
4.1 package. xml
catkin API docs.
每个包的描述文件,都需要放置在包的根目录下,对包的名字/版本/作者/维护者/依赖关系进行说明.与rosbuild中的manifest.xml相似.
依赖不正确在本地可以可以编译通过,但不能在ROS社区正确工作起来.
4.1.1 格式
foo_core
1.2.4
This package provides foo capability.
Ivana Bildbotz
BSD
http://ros.org/wiki/foo_core
Ivana Bildbotz
catkin
roscpp
std_msgs
message_generation
message_runtime
rospy
python-mock
doxygen
C++ catkin library dependencies
6种依赖标签
Build Dependencies 指出你的包编译需要依赖的包.
Build Export Dependencies 指出你的包编译导出库 (???): b依赖a的头文件,要想c只依赖b. 我认为是避免多次依赖.
specify which packages are needed to build libraries against this package. This is the case when you transitively include their headers in public headers in this package (especially when these packages are declared as (CATKIN_)DEPENDS in catkin_package() in CMake).
Execution Dependencies 执行时依赖
Test Dependencies 单元测试
Build Tool Dependencies 编译系统工具
Documentation Tool Dependencies doc生成工具
specifies that a dependency is a build, export, and execution dependency. This is the most commonly used dependency tag.
http://write.blog.csdn.net/postedit/50388429 4.1.2 Metapackages 将多个包组合成一个逻辑包
仅需要标签:
对应cmakelists.txt中
cmake_minimum_required(VERSION 2.8.3)
project()
find_package(catkin REQUIRED)
catkin_metapackage()
========例如 universal_robot======================================
universal_robot
1.1.5
Drivers, description, and utilities for Universal Robot Arms.
Alexander Bubeck
BSD
http://ros.org/wiki/universal_robot
Shaun Edwards
Stuart Glaser
Kelsey Hawkins
Wim Meeussen
Felix Messmer
catkin
ur3_moveit_config
ur5_moveit_config
ur10_moveit_config
ur_bringup
ur_description
ur_driver
ur_gazebo
ur_kinematics
ur_msgs
cmake_minimum_required(VERSION 2.8.3)
project(universal_robot)
find_package(catkin REQUIRED)
catkin_metapackage()
4.2 CMakeLists.txt
cmak 不会找package.xml文件, 但catkin需要. 依据cmakelists.txt文件编译需要清晰指出头文件和库文件的指向.
Finding the library
需要在package.xml中使用标签
find_package(catkin REQUIRED COMPONENTS roscpp)
Include directories
include_directories(include ${catkin_INCLUDE_DIRS})
Exporting interfaces
需要在package.xml中使用
于你的包导出的依赖.
catkin_package(CATKIN_DEPENDS angles roscpp std_msgs)
4.3 C++ 系统库依赖
Finding the library
1) 依据CMake module . 大部分的boost 库在头文件完全实现,运行时不需要独立的分享连接.
find_package(Boost REQUIRED)但boost thread 运行时需要库,必须指出组件thread .
find_package(Boost REQUIRED COMPONENTS thread)find_package()之后就可以用此编译和连接了. 命名规则基本是这样: ${name}_INCLUDE_DIRS and${name}_LIBRARIES .有时不遵循
camke社区标准命名的就请到到answers.ros.org发问.
2) cmake modules 无效情况下,但库开发包提供了pkg-config module . 编译标签
find_package(PkgConfig REQUIRED)
pkg_check_modules(GSTREAMER REQUIRED libgstreamer-0.10)
pkg_check_modules() 参数声明了一个cmake前缀,GSTREAMER_INCLUDE_DIRS 和GSTREAMER_LIBRARIES
PkgConfig 编译应用与连接的帮助工具. 用于命令行中插入正确的编译选项. (.pc文件 ) libgstreamer-0.10.pc.
Include directories
include_directories(include ${Boost_INCLUDE_DIRS} ${GSTREAMER_INCLUDE_DIRS})如有依赖catkin 包 ,再添加 ${catkin_INCLUDE_DIRS}
Exporting interfaces
catkin_package(DEPENDS Boost GSTREAMER)确保所有的包在package.xml被用到,
标准命名 ${name}_INCLUDE_DIRS and${name}_LIBRARIES . catkin包一般是小写,大写(asGSTREAMER) 或混合 (likeBoost)
4.4 编译安装 C++ libraries and headers
include_directories(include
${catkin_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
${GSTREAMER_INCLUDE_DIRS})add_library(your_library libsrc1.cpp libsrc2.cpp libsrc_etc.cpp)set(YOUR_LIB_SOURCES
libsrc1.cpp
libsrc2.cpp
libsrc3.cpp
libsrc4.cpp
libsrc_etc.cpp)
add_library(your_library ${YOUR_LIB_SOURCES})
target_link_libraries(your_library ${catkin_LIBRARIES})target_link_libraries(your_library
${catkin_LIBRARIES}
${Boost_LIBRARIES}
${GSTREAMER_LIBRARIES})catkin_package(CATKIN_DEPENDS std_msgs
DEPENDS Boost
INCLUDE_DIRS include
LIBRARIES your_library)std_msgs
boost
安装
install(TARGETS your_library your_other_library
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
PATTERN ".svn" EXCLUDE)4.5 编译安装 C++ 执行文件
include_directories(include
${catkin_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
${GSTREAMER_INCLUDE_DIRS})
add_executable(your_node src1.cpp src2.cpp src_etc.cpp)
set(${PROJECT_NAME}_SOURCES
src/file1.cpp
src/file2.cpp
src/file3.cpp
src/file4.cpp
src/file5.cpp
src/file6.cpp
src/file_etc.cpp)
add_executable(your_node ${${PROJECT_NAME}_SOURCES})
add_executable(your_node ${${PROJECT_NAME}_SOURCES})
target_link_libraries(your_node ${catkin_LIBRARIES})
add_executable(your_node ${${PROJECT_NAME}_SOURCES})
target_link_libraries(your_node
${catkin_LIBRARIES}
${Boost_LIBRARIES}
${GSTREAMER_LIBRARIES})ros下的安装,使得rosrun 与roslaunch能够使用.需要下面的方式安装.
install(TARGETS your_node RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})安装 cmake文件
catkin_package(CFG_EXTRAS your_macros.cmake your_modules.cmake)
install(FILES cmake/your_macros.cmake cmake/your_modules.cmake
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/cmake)
install(DIRECTORY cmake
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
PATTERN ".svn" EXCLUDE)
4.6 CMake coding standards
4.7 CMake Variables
CMake Useful Variables
4.8 catkin 多package包编译有依赖先后关系（提示找不到自定义消息头文件）
例如package中有生成msg或srv. 同时对应的生成程序需要依赖对应msg，需要指导编译顺序，依据标签项
add_dependencies，指定编译器注意编译顺序，会先生成msg的头文件在编译执行程序。 ${catkin_EXPORTED_TARGETS} ${${PROJECT_NAME}_EXPORTED_TARGETS}
add_executable(gblidarNode "./src/gblidarNode.cpp" "./SDK/GblidarDriver.cpp")
target_link_libraries(gblidarNode -pthread ${catkin_LIBRARIES})
add_dependencies(gblidarNode ${catkin_EXPORTED_TARGETS} ${${PROJECT_NAME}_EXPORTED_TARGETS})
add_executable(gblidarClient "./src/client.cpp")
target_link_libraries(gblidarClient ${catkin_LIBRARIES})
add_dependencies(gblidarClient ${catkin_EXPORTED_TARGETS} ${${PROJECT_NAME}_EXPORTED_TARGETS})
参考:
http://wiki.ros.org/catkin
http://wiki.ros.org/catkin/commands/catkin_make
http://wiki.ros.org/cn/ROS/Tutorials/catkin/BuildingPackages
http://wiki.ros.org/catkin/CMakeLists.txt
CMake coding standards
CMake Variables
CMake Useful Variables