ROS2 CMakeLists.txt 和 package.xml

这里记录一下ROS2中功能包package.xml和CMakeLists.txt的格式。以LIO-SAM的ROS2版本为例：

CMakeLists.txt

cmake_minimum_required(VERSION 3.5)
project(lio_sam)

if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
  set(CMAKE_BUILD_TYPE Release)
endif()


# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rosidl_default_generators REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclpy REQUIRED)
find_package(cv_bridge REQUIRED)
find_package(std_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(visualization_msgs REQUIRED)
find_package(pcl_msgs REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(tf2_sensor_msgs REQUIRED)
find_package(tf2_eigen REQUIRED)
find_package(tf2_ros REQUIRED)
set(OpenCV_STATIC ON)
find_package(OpenCV REQUIRED)
find_package(PCL REQUIRED)
find_package(GTSAM REQUIRED)
find_package(Eigen REQUIRED)
find_package(OpenMP REQUIRED)

include_directories(
  include/lio_sam
)

rosidl_generate_interfaces(${PROJECT_NAME} "msg/CloudInfo.msg" "srv/SaveMap.srv" DEPENDENCIES std_msgs sensor_msgs)



add_executable(${PROJECT_NAME}_featureExtraction src/featureExtraction.cpp)
ament_target_dependencies(${PROJECT_NAME}_featureExtraction rclcpp rclpy std_msgs sensor_msgs geometry_msgs nav_msgs pcl_msgs visualization_msgs tf2 tf2_ros tf2_eigen tf2_sensor_msgs tf2_geometry_msgs OpenCV PCL)
rosidl_get_typesupport_target(cpp_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_cpp")
target_link_libraries(${PROJECT_NAME}_featureExtraction "${cpp_typesupport_target}") 

add_executable(${PROJECT_NAME}_imageProjection src/imageProjection.cpp)
ament_target_dependencies(${PROJECT_NAME}_imageProjection rclcpp rclpy std_msgs sensor_msgs geometry_msgs nav_msgs pcl_msgs visualization_msgs pcl_msgs tf2 tf2_ros tf2_eigen tf2_sensor_msgs tf2_geometry_msgs OpenCV PCL)
target_link_libraries(${PROJECT_NAME}_imageProjection "${cpp_typesupport_target}") 

add_executable(${PROJECT_NAME}_imuPreintegration src/imuPreintegration.cpp)
ament_target_dependencies(${PROJECT_NAME}_imuPreintegration rclcpp rclpy std_msgs sensor_msgs geometry_msgs nav_msgs pcl_msgs visualization_msgs tf2 tf2_ros tf2_eigen tf2_sensor_msgs tf2_geometry_msgs OpenCV PCL GTSAM Eigen)
target_link_libraries(${PROJECT_NAME}_imuPreintegration gtsam "${cpp_typesupport_target}")

add_executable(${PROJECT_NAME}_mapOptimization src/mapOptmization.cpp)
ament_target_dependencies(${PROJECT_NAME}_mapOptimization rclcpp rclpy std_msgs sensor_msgs geometry_msgs nav_msgs pcl_msgs visualization_msgs tf2 tf2_ros tf2_eigen tf2_sensor_msgs tf2_geometry_msgs OpenCV PCL GTSAM)
if (OpenMP_CXX_FOUND)
  target_link_libraries(${PROJECT_NAME}_mapOptimization gtsam "${cpp_typesupport_target}" OpenMP::OpenMP_CXX)
else()
  target_link_libraries(${PROJECT_NAME}_mapOptimization gtsam "${cpp_typesupport_target}")
endif()


install(
  DIRECTORY launch
  DESTINATION share/${PROJECT_NAME}/
)

install(
  DIRECTORY config
  DESTINATION share/${PROJECT_NAME}/
)

install(
  TARGETS ${PROJECT_NAME}_imageProjection
  DESTINATION lib/${PROJECT_NAME}
)

install(
  TARGETS ${PROJECT_NAME}_imuPreintegration
  DESTINATION lib/${PROJECT_NAME}
)

install(
  TARGETS ${PROJECT_NAME}_featureExtraction
  DESTINATION lib/${PROJECT_NAME}
)

install(
  TARGETS ${PROJECT_NAME}_mapOptimization
  DESTINATION lib/${PROJECT_NAME}
)

install(
  DIRECTORY "include/"
  DESTINATION include
)

ament_export_include_directories(include)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # uncomment the line when a copyright and license is not present in all source files
  #set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # uncomment the line when this package is not in a git repo
  #set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()

其中：

install(
  TARGETS ${PROJECT_NAME}_mapOptimization
  DESTINATION lib/${PROJECT_NAME}
)

是将可执行程序 ${PROJECT_NAME}_mapOptimization安装在./install/${PROJECT_NAME}/lib/${PROJECT_NAME}/目录下。

放在别的路径下，启动ros2节点的时候会提示找不到。

package.xml

  lio_sam
  1.0.0
  Lidar Odometry

  Tixiao Shan

  TODO

  Tixiao Shan

  ament_cmake
  rosidl_default_generators

  rclcpp
  rclpy
  std_msgs
  sensor_msgs
  nav_msgs
  geometry_msgs
  tf2_geometry_msgs
  tf2_sensor_msgs
  visualization_msgs
  pcl_msgs
  tf2_eigen
  tf2_ros
  tf2
  OpenCV
  PCL
  GTSAM
  Eigen

  rosidl_default_runtime
  rclcpp
  rclpy
  std_msgs
  sensor_msgs
  nav_msgs
  geometry_msgs
  visualization_msgs
  pcl_msgs
  tf2_geometry_msgs
  tf2_sensor_msgs
  tf2_eigen
  tf2_ros
  tf2
  OpenCV
  PCL
  GTSAM
  Eigen
  
  rosidl_interface_packages

  ament_lint_auto
  ament_lint_common

  
    ament_cmake
  

其中package name应该和CMakeLists中的project name保持一致。