用qt5.3.2打开ros(机器人操作系統)的界面（CmakeList.txt）

用qt5.3.2打开ros(机器人操作系统)的界面（CmakeList.txt）

机器人操作系统的GUI用QT來实现，可以用qmake编译，也可以用cmake编译

一般來说，在QT调试中用qmake來调试，然而对于ros来说，用cmake更为熟练．

 

在qt中以打开CmakeList.txt的方法來打开GUI的方法：

1)  首先确保项目处于catkin的工作空间(避免错误

CMake Error at CMakeLists.txt:65 (message):

find_package(catkin) failed. catkin was neither found in the workspace nor

in the CMAKE_PREFIX_PATH. One reason may be that no ROS setup.sh was

sourced before.

)

  这句话是为了环境变量而设置的,因为我的是linux系统, .bashrc里面

    source ~/backup/ISW-build/devel/setup.bash  （）

    是运行ros指令查找的可执行文件目录,如果不是当前工程的目录有些东西比如消息,是查找不到的

  env

可以看到打印的环境变量中 CMAKE_PREFIX_PATH 包含/opt/ros/kinetic，表明ros环境变量配置完成

(如果打开文件提示CMAKE_PREFIX_PATH没有设置ROS,是因为没有setup.sh 注意：是因为qtcretor配置被覆盖，依次点击工具->选项->构建和运行(kit),，选择自己的套件，修改CMake Configuration，删除CMAKE_PREFIX_PATH，以防被覆盖)

  

2)　 File-open file or project 找到要打开的項目的CmakeList.txt（最好把包与cakkin_init生成的cmake放在同一级别，打开这个cmake

最后为CMakeLists.txt，是catkin生成的）

 

        

3)　设置BUILD Location中的build directory为catkin的工作空间的build 目录（只是需要设置一个生成目录，也可自定义一个qt_build目录）

    

   此处build 目录对应.bashrc的目录, 如

    source ~/backup/ISW-build/devel/setup.bash  

  那就 ~/backup/ISW-build

4)　在Run Cmake中设置Arguments为：-DCMKE-BUILD-TYPE=Debug(可为空，也就是说不用设置即可进行下一步)

 

5)　 Run Cmake

 

6)  若一切正常的話点击Finished.出现错误时请查看Cmake是否正确

 

 

欢迎大家批评，指正，交流！

联系方式：

emai:  tongzhuodenilove@163.com

 

 

# toplevel CMakeLists.txt for a catkin workspace
# catkin/cmake/toplevel.cmake

cmake_minimum_required(VERSION 3.0.2)

project(Project)

set(CATKIN_TOPLEVEL TRUE)

# search for catkin within the workspace
set(_cmd "catkin_find_pkg" "catkin" "${CMAKE_SOURCE_DIR}")
execute_process(COMMAND ${_cmd}
  RESULT_VARIABLE _res
  OUTPUT_VARIABLE _out
  ERROR_VARIABLE _err
  OUTPUT_STRIP_TRAILING_WHITESPACE
  ERROR_STRIP_TRAILING_WHITESPACE
)
if(NOT _res EQUAL 0 AND NOT _res EQUAL 2)
  # searching fot catkin resulted in an error
  string(REPLACE ";" " " _cmd_str "${_cmd}")
  message(FATAL_ERROR "Search for 'catkin' in workspace failed (${_cmd_str}): ${_err}")
endif()

set(CMAKE_PREFIX_PATH $ENV{CMAKE_PREFIX_PATH})

# include catkin from workspace or via find_package()
if(_res EQUAL 0)
  set(catkin_EXTRAS_DIR "${CMAKE_SOURCE_DIR}/${_out}/cmake")
  # include all.cmake without add_subdirectory to let it operate in same scope
  include(${catkin_EXTRAS_DIR}/all.cmake NO_POLICY_SCOPE)
  add_subdirectory("${_out}")

else()
  # use either CMAKE_PREFIX_PATH explicitly passed to CMake as a command line argument
  # or CMAKE_PREFIX_PATH from the environment
  if(NOT DEFINED CMAKE_PREFIX_PATH)
    if(NOT "$ENV{CMAKE_PREFIX_PATH}" STREQUAL "")
      if(NOT WIN32)
        string(REPLACE ":" ";" CMAKE_PREFIX_PATH $ENV{CMAKE_PREFIX_PATH})
      else()
        set(CMAKE_PREFIX_PATH $ENV{CMAKE_PREFIX_PATH})
      endif()
    endif()
  endif()

  # list of catkin workspaces
  set(catkin_search_path "")
  foreach(path ${CMAKE_PREFIX_PATH})
    if(EXISTS "${path}/.catkin")
      list(FIND catkin_search_path ${path} _index)
      if(_index EQUAL -1)
        list(APPEND catkin_search_path ${path})
      endif()
    endif()
  endforeach()

  # search for catkin in all workspaces
  set(CATKIN_TOPLEVEL_FIND_PACKAGE TRUE)
  find_package(catkin QUIET
    NO_POLICY_SCOPE
    PATHS ${catkin_search_path}
    NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
  unset(CATKIN_TOPLEVEL_FIND_PACKAGE)

  if(NOT catkin_FOUND)
    message(FATAL_ERROR "find_package(catkin) failed. catkin was neither found in the workspace nor in the CMAKE_PREFIX_PATH. One reason may be that no ROS setup.sh was sourced before.")
  endif()
endif()

catkin_workspace()