ros中创建一个功能包并编译成动态链接库，然后在其他功能包中调用

1. 创建功能包，例如功能包的名字为 kalman_filter

catkin_create_pkg kalman_filter roscpp rospy std_msgs

2. 在创建好的功能包中写好.cpp文件和.h文件

3. 修改kalman_filter功能包的CMakeLists.txt文件

catkin_package(
 INCLUDE_DIRS include
 #LIBRARIES kalman_filter
 #CATKIN_DEPENDS roscpp rospy std_msgs
 #DEPENDS system_lib
)

include_directories(
  include
  ${catkin_INCLUDE_DIRS}
  #${EIGEN3_INCLUDE_DIRS}
)

add_library(kalman_filter_lib src/kalman_filter.cpp)  # kalman_filter_lib为要生成的动态库的名称

add_dependencies(kalman_filter_lib ${catkin_EXPORTED_TARGETS})

target_link_libraries(kalman_filter_lib
  ${catkin_LIBRARIES}
)

4. 在其他功能包中调用，修改要调用动态库的CMakeLists.txt和package.xml

CMakeLists.txt中修改如下

find_package(catkin REQUIRED COMPONENTS
  kalman_filter
  # 其他依赖...
)

target_link_libraries(your_node
  ${catkin_LIBRARIES}
  kalman_filter_lib  # 这个名字要和前面编译生成的动态库的名称一致
  # 其他库...
)

include_directories(
  include
  ${catkin_INCLUDE_DIRS}
  #${EIGEN3_INCLUDE_DIRS}
  kalman_filter_lib
)

package.xml中修改

  <build_depend>kalman_filter</build_depend>
  <exec_depend>kalman_filter</exec_depend>

5. 然后在功能包中包含动态库的头文件就可以直接调用啦