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创建ROS package后,需要按照项目实际需求,对应修改CMakeLists.txt里的代码,实现编译,本文将记录几点修改意见,以供参考。
提示:以下是本篇文章正文内容,下面案例可供参考
代码如下(示例):
mkdir - p fengsc_ws/src
cd fengsc/src
source /opt/ros/kinetic/setup.sh
# 初始化工作空间
catkin_init_workspace
# 创建 ROS package: example_test,依赖项根据需要添加
catkin_create pkg example_test rocpp rospy std_msgs ...
cd ..
catkin_make # 编译无误,完成
package 创建完成,在 package 里面会出现 CMakeLists.txt 和 package.xml.
代码如下(示例):
# 需要的CMake最小版本,可在自己终端中输入 < cmake --version > 查看本地版本
cmake_minimum_required(VERSION 3.0.2)
# 项目/工程名,后续可使用${PROJECT_NAME},即example_test
project(example_test)
# OLD策略,Error on non-existent dependency in add_dependencies.
cmake_policy(SET CMP0046 OLD)
## Compile as C++11, supported in ROS Kinetic and newer
# 使用C++11标准
add_compile_options(-std=c++11)
# 使用C++编译器
set(CMAKE_CXX_FLAGS_DEBUG "-Wall -Werror")
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
# 加入项目中要用到的库,加载头文件
find_package(
catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
tf
)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
# 设置用到的opencv库路径
set(OpenCV_DIR /usr/local/share/OpenCV)
# 寻找opencv库,加载头文件
find_package(OpenCV CONFIG REQUIRED)
# 寻找realsense2库,加载头文件
find_package(realsense2 REQUIRED)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# std_msgs
# )
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
# 为 catkin 提供构建、生成 pkg-config 和 CMake 文件所需要的信息,包含该 package 声明的 include 路径和库
catkin_package(
INCLUDE_DIRS include
LIBRARIES example_test
DEPENDS OpenCV
CATKIN_DEPENDS roscpp rospy std_msgs
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
# include 头文件路径
include_directories(
include
include/example_test
include/node
${catkin_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
${realsense2_INCLUDE_DIRS}
)
## Declare a C++ library
add_library(${PROJECT_NAME}
src/***.cc
src/***.cc
src/***.cc
)
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# 先添加 ${PROJECT_NAME} 依赖库,避免链接失败
add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# 添加可执行文件
add_executable(${PROJECT_NAME}_node src/example_test_node.cpp)
## 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
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
## Add cmake target dependencies of the executable
## same as for the library above
# 添加 ${PROJECT_NAME}_node 依赖库
add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
# 链接库
target_link_libraries(${PROJECT_NAME}_node
${OpenCV_LIBS}
${PROJECT_NAME}
${catkin_LIBRARIES}
${realsense2_LIBRARY}
-lpthread
-lm
)
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} )
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# catkin_install_python(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# 要安装的库
install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
## Mark cpp header files for installation
# 要安装的头文件
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
FILES_MATCHING PATTERN "*.h"
PATTERN ".git" EXCLUDE
)
## Mark other files for installation (e.g. launch and bag files, etc.)
# launch 文件
install(FILES
launch/example_test.launch
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
)
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_container_localizer.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
其中,在find_package
选项中某package后面加REQUIRED
的作用是告诉cmake,该package是必需的,如果找不到就会报错,如:
find_package(PCL REQUIRED)
如果只需要其中某个或某些组件,可以使用COMPONENTS
,如:
find_package(PCL REQUIRED COMPONENTS io)
find_package(PCL REQUIRED COMPONENTS io common)
XXX_FOUND
: 在find_package
中找到XXX包后为1,否则为0;
XXX_INCLUDE_DIRS
: XXX头文件及其依赖的头文件路径
XXX_LIBRARIES
:XXX库名
XXX_LIBRARY_DIRS
: XXX库或依赖的第三方库路径
XXX_VERSION
: XXX的版本
XXX_COMPONENTS
: 包含所有组件列表
可用${ }
取值。
添加需要的依赖
代码如下(示例):
<package format="2">
<name>example_testname>
<version>1.0.0version>
<description>The example_test packagedescription>
<maintainer email="[email protected]">fengscmaintainer>
<license>TODOlicense>
<buildtool_depend>catkinbuildtool_depend>
<build_depend>roscppbuild_depend>
<build_depend>rospybuild_depend>
<build_depend>std_msgsbuild_depend>
<build_depend>tfbuild_depend>
<build_export_depend>roscppbuild_export_depend>
<build_export_depend>rospybuild_export_depend>
<build_export_depend>std_msgsbuild_export_depend>
<build_export_depend>tfbuild_export_depend>
<exec_depend>roscppexec_depend>
<exec_depend>rospyexec_depend>
<exec_depend>std_msgsexec_depend>
<exec_depend>tfexec_depend>
<export>
export>
package>
主要提供一种示例,本项目用到OpenCV,realsense,std_msgs,tf库等,对应修改CMakeLists.txt与package.xml文件,实现工程编译