{"id":350,"date":"2024-10-12T16:26:49","date_gmt":"2024-10-12T08:26:49","guid":{"rendered":"https:\/\/www.armfun.cn\/?p=350"},"modified":"2024-10-12T16:26:49","modified_gmt":"2024-10-12T08:26:49","slug":"ros1-%e7%9a%84cmakelists-txt%e8%af%a6%e8%a7%a3","status":"publish","type":"post","link":"https:\/\/www.armfun.cn\/?p=350","title":{"rendered":"ROS1 \u7684CMakeLists.txt\u8be6\u89e3"},"content":{"rendered":"\n

\u5728 ROS1<\/strong> \u4e2d\uff0cCMakeLists.txt<\/code><\/strong> \u662f\u4e00\u4e2a\u5173\u952e\u6587\u4ef6\uff0c\u7528\u4e8e\u5b9a\u4e49\u5982\u4f55\u6784\u5efa\u548c\u7f16\u8bd1\u4f60\u7684 ROS \u5305\u3002\u4ee5\u4e0b\u662f\u4e00\u4e2a\u5178\u578b\u7684 ROS1 CMakeLists.txt<\/code><\/strong> \u6587\u4ef6\u7684\u4e3b\u8981\u90e8\u5206\u53ca\u5176\u4f5c\u7528\u8bf4\u660e\u3002<\/p>\n\n\n\n

1. cmake_minimum_required<\/code><\/strong><\/h3>\n\n\n\n
cmake_minimum_required(VERSION 3.0.2)
<\/code><\/pre>\n\n\n\n
    \n
  • \u4f5c\u7528<\/strong>: \u6307\u5b9a\u6240\u9700\u7684\u6700\u5c0f CMake<\/strong> \u7248\u672c\u3002ROS1 Noetic \u901a\u5e38\u4f7f\u7528 3.0.2 \u6216\u66f4\u9ad8\u7248\u672c\u3002\u786e\u4fdd CMake \u6784\u5efa\u7cfb\u7edf\u5728\u5408\u9002\u7684\u7248\u672c\u4e0a\u8fd0\u884c\u3002<\/li>\n<\/ul>\n\n\n\n
    \n\n\n\n
    2. project<\/code><\/strong><\/h3>\n\n\n\n
    project(my_ros_pkg)
    <\/code><\/pre>\n\n\n\n
      \n
    • \u4f5c\u7528<\/strong>: \u58f0\u660e\u9879\u76ee\u7684\u540d\u79f0\u3002\u8fd9\u91cc\u7684\u9879\u76ee\u540d my_ros_pkg<\/code> \u901a\u5e38\u4e0e\u5305\u540d\u4fdd\u6301\u4e00\u81f4\u3002CMake \u5c06\u4f7f\u7528\u8be5\u540d\u79f0\u4f5c\u4e3a\u751f\u6210\u6784\u5efa\u7cfb\u7edf\u7684\u6807\u8bc6\u3002<\/li>\n<\/ul>\n\n\n\n
      \n\n\n\n
      3. find_package<\/code><\/strong><\/h3>\n\n\n\n
      find_package(catkin REQUIRED COMPONENTS
        roscpp
        std_msgs
      )
      <\/code><\/pre>\n\n\n\n
        \n
      • \u4f5c\u7528<\/strong>: \u67e5\u627e\u5e76\u52a0\u8f7d\u6307\u5b9a\u7684 catkin<\/strong> \u5305\u53ca\u5176\u4f9d\u8d56\u9879\u3002REQUIRED<\/code> \u8868\u793a\u8fd9\u4e9b\u7ec4\u4ef6\u662f\u5fc5\u9700\u7684\uff0cCOMPONENTS<\/code> \u5173\u952e\u5b57\u540e\u5217\u51fa\u7684\u662f\u4f60\u9879\u76ee\u4f9d\u8d56\u7684 ROS \u5305\u3002\u5e38\u7528\u7684\u7ec4\u4ef6\u6709 roscpp<\/code>\uff08\u7528\u4e8e C++ \u5f00\u53d1\uff09\uff0cstd_msgs<\/code>\uff08\u6807\u51c6\u6d88\u606f\u7c7b\u578b\u5305\uff09\u7b49\u3002<\/li>\n<\/ul>\n\n\n\n
        \n\n\n\n
        4. catkin_package<\/code><\/strong><\/h3>\n\n\n\n
        catkin_package(
          CATKIN_DEPENDS roscpp std_msgs
        )
        <\/code><\/pre>\n\n\n\n
          \n
        • \u4f5c\u7528<\/strong>: \u5b9a\u4e49\u4f60\u7684\u9879\u76ee\u4f5c\u4e3a catkin<\/strong> \u5305\uff0c\u5e76\u58f0\u660e\u8be5\u5305\u5bf9\u5176\u4ed6\u5305\u7684\u4f9d\u8d56\u3002CATKIN_DEPENDS<\/code> \u4e2d\u5217\u51fa\u7684\u5305\u8868\u660e\u6b64\u5305\u5728\u8fd0\u884c\u65f6\u6216\u7f16\u8bd1\u65f6\u4f9d\u8d56\u4e8e\u8fd9\u4e9b ROS \u5305\u3002catkin_package()<\/code> \u8fd8\u4f1a\u81ea\u52a8\u4e3a\u8be5\u5305\u751f\u6210\u5fc5\u8981\u7684\u914d\u7f6e\u6587\u4ef6\uff0c\u4f7f\u5f97\u5176\u4ed6 ROS \u5305\u53ef\u4ee5\u4f9d\u8d56\u8be5\u5305\u3002<\/li>\n<\/ul>\n\n\n\n
          \n\n\n\n
          5. include_directories<\/code><\/strong><\/h3>\n\n\n\n
          include_directories(
            include
            ${catkin_INCLUDE_DIRS}
          )
          <\/code><\/pre>\n\n\n\n
            \n
          • \u4f5c\u7528<\/strong>: \u5b9a\u4e49\u7f16\u8bd1\u65f6\u9700\u8981\u5305\u542b\u7684\u5934\u6587\u4ef6\u76ee\u5f55\u3002include<\/code> \u662f\u4f60\u7684\u5305\u7684\u5934\u6587\u4ef6\u8def\u5f84\uff0c${catkin_INCLUDE_DIRS}<\/code> \u662f catkin<\/code> \u548c\u5176\u4ed6\u4f9d\u8d56\u5305\u7684\u5934\u6587\u4ef6\u8def\u5f84\uff0c\u5b83\u4eec\u5728\u8fd0\u884c find_package(catkin ...)<\/code> \u540e\u4f1a\u81ea\u52a8\u83b7\u53d6\u3002<\/li>\n<\/ul>\n\n\n\n
            \n\n\n\n
            6. add_executable<\/code><\/strong><\/h3>\n\n\n\n
            add_executable(${PROJECT_NAME}_node src\/main.cpp)
            <\/code><\/pre>\n\n\n\n
              \n
            • \u4f5c\u7528<\/strong>: \u5b9a\u4e49\u4e00\u4e2a\u53ef\u6267\u884c\u6587\u4ef6\u3002add_executable<\/code> \u7528\u4e8e\u5c06\u6e90\u6587\u4ef6\uff08\u5982 src\/main.cpp<\/code>\uff09\u7f16\u8bd1\u4e3a\u4e00\u4e2a\u53ef\u6267\u884c\u7a0b\u5e8f\u3002\u5728\u8fd9\u4e2a\u4f8b\u5b50\u4e2d\uff0c${PROJECT_NAME}_node<\/code> \u4f1a\u89e3\u6790\u4e3a my_ros_pkg_node<\/code>\uff0c\u5373\u751f\u6210\u7684\u53ef\u6267\u884c\u6587\u4ef6\u7684\u540d\u79f0\u3002<\/li>\n<\/ul>\n\n\n\n
              \n\n\n\n
              7. target_link_libraries<\/code><\/strong><\/h3>\n\n\n\n
              target_link_libraries(${PROJECT_NAME}_node
                ${catkin_LIBRARIES}
              )
              <\/code><\/pre>\n\n\n\n
                \n
              • \u4f5c\u7528<\/strong>: \u5c06\u751f\u6210\u7684\u53ef\u6267\u884c\u6587\u4ef6\u4e0e\u6240\u9700\u7684\u5e93\u8fdb\u884c\u94fe\u63a5\u3002${catkin_LIBRARIES}<\/code> \u662f\u6240\u6709\u7531 catkin_package()<\/code> \u548c find_package()<\/code> \u4e2d\u5217\u51fa\u7684\u4f9d\u8d56\u5305\u6240\u63d0\u4f9b\u7684\u5e93\u3002\u5b83\u786e\u4fdd\u4f60\u7684 ROS \u7a0b\u5e8f\u5728\u8fd0\u884c\u65f6\u80fd\u591f\u8bbf\u95ee\u6240\u6709\u9700\u8981\u7684\u5e93\u51fd\u6570\u3002<\/li>\n<\/ul>\n\n\n\n
                \n\n\n\n
                8. add_dependencies<\/code><\/strong><\/h3>\n\n\n\n
                add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
                <\/code><\/pre>\n\n\n\n
                  \n
                • \u4f5c\u7528<\/strong>: \u6307\u5b9a\u8be5\u8282\u70b9\u7684\u4f9d\u8d56\u5173\u7cfb\u3002\u5982\u679c\u4f60\u6709\u81ea\u52a8\u751f\u6210\u7684\u6d88\u606f\u3001\u670d\u52a1\u6216\u52a8\u4f5c\u6587\u4ef6\uff0c\u6216\u8005\u4f9d\u8d56\u4e8e\u5176\u4ed6\u5305\u7684\u751f\u6210\u76ee\u6807\uff0cadd_dependencies<\/code> \u53ef\u4ee5\u786e\u4fdd\u5728\u7f16\u8bd1\u8fc7\u7a0b\u4e2d\u6b63\u786e\u5904\u7406\u8fd9\u4e9b\u4f9d\u8d56\uff0c\u4fdd\u8bc1\u751f\u6210\u7684\u76ee\u6807\u6587\u4ef6\u6309\u987a\u5e8f\u7f16\u8bd1\u3002<\/li>\n<\/ul>\n\n\n\n
                  \n\n\n\n
                  9. \u6d88\u606f\u3001\u670d\u52a1\u548c\u52a8\u4f5c\u751f\u6210<\/strong><\/h3>\n\n\n\n
                  \u5982\u679c\u4f60\u7684\u5305\u5b9a\u4e49\u4e86\u81ea\u5b9a\u4e49\u7684\u6d88\u606f\u3001\u670d\u52a1\u6216\u52a8\u4f5c\u6587\u4ef6\uff0c\u4f60\u8fd8\u9700\u8981\u5728 CMakeLists.txt<\/code> \u4e2d\u8fdb\u884c\u7279\u6b8a\u7684\u5904\u7406\u3002<\/p>\n\n\n\n
                  find_package<\/code> \u90e8\u5206\uff1a<\/h4>\n\n\n\n
                  find_package(catkin REQUIRED COMPONENTS
                    roscpp
                    std_msgs
                    message_generation
                  )
                  <\/code><\/pre>\n\n\n\n
                  \u6dfb\u52a0\u6d88\u606f\/\u670d\u52a1\u6587\u4ef6\uff1a<\/h4>\n\n\n\n
                  add_message_files(
                    FILES
                    MyMessage.msg
                  )

                  add_service_files(
                    FILES
                    MyService.srv
                  )
                  <\/code><\/pre>\n\n\n\n
                  \u751f\u6210\u6d88\u606f\u3001\u670d\u52a1\u548c\u52a8\u4f5c\uff1a<\/h4>\n\n\n\n
                  generate_messages(
                    DEPENDENCIES
                    std_msgs
                  )
                  <\/code><\/pre>\n\n\n\n
                  \u6dfb\u52a0\u4f9d\u8d56\u9879\uff1a<\/h4>\n\n\n\n
                  catkin_package(
                    CATKIN_DEPENDS message_runtime roscpp std_msgs
                  )
                  <\/code><\/pre>\n\n\n\n
                  \n\n\n\n
                  10. \u5b89\u88c5\u53ef\u6267\u884c\u6587\u4ef6<\/strong><\/h3>\n\n\n\n
                  \u5982\u679c\u4f60\u9700\u8981\u5b89\u88c5\u751f\u6210\u7684\u53ef\u6267\u884c\u6587\u4ef6\uff0c\u4f60\u53ef\u4ee5\u6dfb\u52a0\u5982\u4e0b\u547d\u4ee4\uff1a<\/p>\n\n\n\n
                  install(TARGETS ${PROJECT_NAME}_node
                    RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
                  )
                  <\/code><\/pre>\n\n\n\n
                    \n
                  • \u4f5c\u7528<\/strong>: \u5c06\u751f\u6210\u7684\u53ef\u6267\u884c\u6587\u4ef6\u5b89\u88c5\u5230 catkin<\/code> \u7684\u4e8c\u8fdb\u5236\u76ee\u5f55\u4e2d\u3002<\/li>\n<\/ul>\n\n\n\n
                    \n\n\n\n
                    11. \u7f16\u8bd1\u9009\u9879<\/strong><\/h3>\n\n\n\n
                    \u5982\u679c\u4f60\u9700\u8981\u8bbe\u7f6e\u7f16\u8bd1\u5668\u7684\u9009\u9879\uff08\u5982\u4f7f\u7528 C++11 \u6807\u51c6\uff09\uff0c\u53ef\u4ee5\u6dfb\u52a0\u5982\u4e0b\u7f16\u8bd1\u9009\u9879\uff1a<\/p>\n\n\n\n
                    add_compile_options(-std=c++11)
                    <\/code><\/pre>\n\n\n\n
                      \n
                    • \u4f5c\u7528<\/strong>: \u8fd9\u91cc\u662f\u8ba9\u4f60\u7684\u7f16\u8bd1\u5668\u652f\u6301 C++11 \u6807\u51c6\u3002\u5982\u679c\u4f60\u4f7f\u7528\u73b0\u4ee3 C++\uff0c\u6bd4\u5982 ROS Noetic\uff0c\u5219\u5e94\u8bbe\u7f6e\u4e3a C++14<\/code> \u6216 C++17<\/code>\u3002<\/li>\n<\/ul>\n\n\n\n
                      \n\n\n\n
                      12. \u81ea\u5b9a\u4e49\u5b89\u88c5\u8def\u5f84<\/strong><\/h3>\n\n\n\n
                      \u5982\u679c\u4f60\u6709\u9700\u8981\u5b89\u88c5\u7684\u914d\u7f6e\u6587\u4ef6\u6216\u5176\u4ed6\u8d44\u6e90\uff0c\u53ef\u4ee5\u4f7f\u7528\u4ee5\u4e0b\u547d\u4ee4\uff1a<\/p>\n\n\n\n
                      install(DIRECTORY launch\/
                        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}\/launch
                      )
                      <\/code><\/pre>\n\n\n\n
                        \n
                      • \u4f5c\u7528<\/strong>: \u5c06 launch<\/code> \u6587\u4ef6\u5939\u4e2d\u7684\u6587\u4ef6\u5b89\u88c5\u5230\u6307\u5b9a\u8def\u5f84\u4e2d\u3002\u5e38\u7528\u4e8e\u5c06\u542f\u52a8\u6587\u4ef6\u5b89\u88c5\u5230 catkin<\/code> \u7684\u5171\u4eab\u76ee\u5f55\u4e2d\u3002<\/li>\n<\/ul>\n\n\n\n
                        \n\n\n\n
                        \u793a\u4f8b\u5b8c\u6574\u7684 CMakeLists.txt<\/code> \u6587\u4ef6<\/h3>\n\n\n\n
                        cmake_minimum_required(VERSION 3.0.2)
                        project(my_ros_pkg)

                        find_package(catkin REQUIRED COMPONENTS
                          roscpp
                          std_msgs
                        )

                        catkin_package(
                          CATKIN_DEPENDS roscpp std_msgs
                        )

                        include_directories(
                          include
                          ${catkin_INCLUDE_DIRS}
                        )

                        add_executable(${PROJECT_NAME}_node src\/main.cpp)

                        target_link_libraries(${PROJECT_NAME}_node
                          ${catkin_LIBRARIES}
                        )

                        add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

                        install(TARGETS ${PROJECT_NAME}_node
                          RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
                        )

                        install(DIRECTORY launch\/
                          DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}\/launch
                        )
                        <\/code><\/pre>\n\n\n\n
                        \n\n\n\n
                        \u603b\u7ed3<\/h3>\n\n\n\n
                          \n
                        • cmake_minimum_required<\/code> \u548c project<\/code> \u7528\u4e8e\u5b9a\u4e49\u57fa\u672c\u7684 CMake \u9879\u76ee\u3002<\/li>\n\n\n\n
                        • find_package<\/code> \u67e5\u627e\u5e76\u52a0\u8f7d ROS \u4f9d\u8d56\u5305\u3002<\/li>\n\n\n\n
                        • catkin_package<\/code> \u58f0\u660e\u6b64\u5305\u662f\u4e00\u4e2a catkin \u5305\uff0c\u5e76\u5904\u7406\u4f9d\u8d56\u5173\u7cfb\u3002<\/li>\n\n\n\n
                        • add_executable<\/code> \u548c target_link_libraries<\/code> \u7528\u4e8e\u751f\u6210\u5e76\u94fe\u63a5 ROS \u8282\u70b9\u3002<\/li>\n\n\n\n
                        • add_dependencies<\/code> \u786e\u4fdd\u6240\u6709\u4f9d\u8d56\u7684\u751f\u6210\u76ee\u6807\u6309\u987a\u5e8f\u7f16\u8bd1\u3002<\/li>\n\n\n\n
                        • \u5b89\u88c5\u89c4\u5219 install<\/code> \u7528\u4e8e\u5b89\u88c5\u53ef\u6267\u884c\u6587\u4ef6\u548c\u5176\u4ed6\u8d44\u6e90\u3002<\/li>\n<\/ul>\n\n\n\n
                          \u901a\u8fc7\u8fd9\u4e9b\u58f0\u660e\uff0c\u4f60\u53ef\u4ee5\u521b\u5efa\u4e00\u4e2a\u529f\u80fd\u5b8c\u5584\u7684 ROS1<\/strong> \u5305\uff0c\u5e76\u4e14\u80fd\u591f\u4e0e ROS<\/strong> \u5e93\u548c\u5176\u4ed6\u5de5\u5177\u6b63\u786e\u94fe\u63a5\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"
                          \u5728 ROS1 \u4e2d\uff0cCMakeLists.txt \u662f\u4e00\u4e2a\u5173\u952e\u6587\u4ef6\uff0c\u7528\u4e8e\u5b9a\u4e49...<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[8],"tags":[],"class_list":["post-350","post","type-post","status-publish","format-standard","hentry","category-8"],"views":1703,"_links":{"self":[{"href":"https:\/\/www.armfun.cn\/index.php?rest_route=\/wp\/v2\/posts\/350","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.armfun.cn\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.armfun.cn\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.armfun.cn\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.armfun.cn\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=350"}],"version-history":[{"count":1,"href":"https:\/\/www.armfun.cn\/index.php?rest_route=\/wp\/v2\/posts\/350\/revisions"}],"predecessor-version":[{"id":351,"href":"https:\/\/www.armfun.cn\/index.php?rest_route=\/wp\/v2\/posts\/350\/revisions\/351"}],"wp:attachment":[{"href":"https:\/\/www.armfun.cn\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=350"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.armfun.cn\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=350"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.armfun.cn\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=350"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}