ROS下CMakelists.txt编写

最新推荐文章于 2024-02-23 11:04:33 发布

Alec-Wong

最新推荐文章于 2024-02-23 11:04:33 发布

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分类专栏： ROS Linux/Ubuntu Ubuntu+ROS

本文链接：https://blog.csdn.net/alec1987/article/details/11271031

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ROS项目的CMakeLists.txt文件用于指导CMake构建系统如何编译和链接库及可执行文件。该文件包含了设置头文件路径、指定构建类型、初始化ROS构建、添加库和可执行文件、链接依赖库等步骤。此外，还涉及了rosbuild提供的各种宏，如rosbuild_add_executable和rosbuild_add_library，用于简化ROS包的构建过程。

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ref：http://wiki.ros.org/rosbuild/CMakeLists

1.http://www.cmake.org/Wiki/CMake_2.4.6_Docs

2.http://blog.163.com/ji_wei8888/blog/static/486804462011991064371/

3.http://wiki.ros.org/rosbuild

4.http://www.cppblog.com/tx7do/archive/2010/08/19/124000.html

5.http://blog.csdn.net/panweiguozhou/article/details/6829085

自己的例子：

cmake_minimum_required(VERSION 2.4.6)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)

include_directories(/usr/local/include/triclops/include)
include_directories(/usr/local/include/dc1394)
include_directories(/usr/local/include/opencv)
include_directories(/usr/local/include/libraw1394)
include_directories(/usr/local/include)
include_directories(/usr/include)

# Set the build type. Options are:
# Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
# Debug          : w/ debug symbols, w/o optimization
# Release        : w/o debug symbols, w/ optimization
# RelWithDebInfo : w/ debug symbols, w/ optimization
# MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
#set(ROS_BUILD_TYPE RelWithDebInfo)

rosbuild_init()

#set the default path for built executables to the "bin" directory
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
#set the default path for built libraries to the "lib" directory
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)

#uncomment if you have defined messages
rosbuild_genmsg()
#uncomment if you have defined services
#rosbuild_gensrv()

#common commands for building c++ executables and libraries
#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
#target_link_libraries(${PROJECT_NAME} another_library)
#rosbuild_add_boost_directories()
#rosbuild_link_boost(${PROJECT_NAME} thread)
#rosbuild_add_executable(example examples/example.cpp)
#target_link_libraries(example ${PROJECT_NAME})

#rosbuild_add_library(pgrlibdcstereo src/pgr-stereo/pgrlibdcstereo/pgr_conversions.cpp src/pgr-stereo/pgrlibdcstereo/pgr_stereocam.cpp src/pgr-stereo/pgrlibdcstereo/pgr_registers.cpp)
#rosbuild_add_library(/usr/local/lib/dc1394 /usr/local/lib/raw1394 /usr/local/lib/thread)
#rosbuild_add_library(triclops pnmutils pgrlibdcstereo)
#rosbuild_add_library(/usr/local/lib/opencv_core /usr/local/lib/opencv_imgproc /usr/local/lib/opencv_highgui)

rosbuild_add_executable(talker src/talker.cpp)
rosbuild_add_executable(listener src/listener.cpp)

rosbuild_add_executable(simplestereo src/pgr-stereo/simplestereo/simplestereo.cpp)
#target_link_libraries(simplestereo /usr/local/lib/libdc1394.a)

target_link_libraries(simplestereo /usr/local/lib/libdc1394.so)
target_link_libraries(simplestereo /usr/local/lib/libraw1394.a)
target_link_libraries(simplestereo /usr/local/include/triclops/lib/libtriclops.a)
target_link_libraries(simplestereo /usr/local/include/triclops/lib/libpgrlibdcstereo.a)
target_link_libraries(simplestereo /usr/local/include/triclops/lib/libpnmutils.a)
target_link_libraries(simplestereo /usr/local/lib/libopencv_core.so)
target_link_libraries(simplestereo /usr/local/lib/libopencv_imgproc.so)
target_link_libraries(simplestereo /usr/local/lib/libopencv_highgui.so)

rosbuild_add_executable(simplestereo-profile src/pgr-stereo/simplestereo/simplestereo-profile.cpp)
target_link_libraries(simplestereo-profile /usr/local/include/triclops/lib/libtriclops.a)
target_link_libraries(simplestereo-profile /usr/local/include/triclops/lib/libpgrlibdcstereo.a)
target_link_libraries(simplestereo-profile /usr/local/include/triclops/lib/libpnmutils.a)
target_link_libraries(simplestereo-profile /usr/local/lib/libdc1394.so)
target_link_libraries(simplestereo-profile /usr/local/lib/libraw1394.a)
target_link_libraries(simplestereo-profile /usr/local/lib/libopencv_core.so)
target_link_libraries(simplestereo-profile /usr/local/lib/libopencv_imgproc.so)
target_link_libraries(simplestereo-profile /usr/local/lib/libopencv_highgui.so)

其他人的例子：

 cmake_minimum_required(VERSION 2.4.6)

 include($ENV{
   ROS_ROOT}/core/rosbuild/rosbuild.cmake)



 # Set the build type.  Options are:

 #  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage

 #  Debug          : w/ debug symbols, w/o optimization

 #  Release        : w/o debug symbols, w/ optimization

 #  RelWithDebInfo : w/ debug symbols, w/ optimization

 #  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries

 #set(ROS_BUILD_TYPE RelWithDebInfo)



 rosbuild_init()



 #set the default path for built executables to the "bin" directory

 set(EXECUTABLE_OUTPUT_PATH ${
   PROJECT_SOURCE_DIR}/bin)

 #set the default path for built libraries to the "lib" directory

 set(LIBRARY_OUTPUT_PATH ${
   PROJECT_SOURCE_DIR}/lib)



 #uncomment if you have defined messages

 #rosbuild_genmsg()

 #uncomment if you have defined services

 #rosbuild_gensrv()



 #common commands for building c++ executables and libraries

 #rosbuild_add_library(${PROJECT_NAME} src/example.cpp)

 #target_link_libraries(${PROJECT_NAME} another_library)

 #rosbuild_add_boost_directories()

 #rosbuild_link_boost(${PROJECT_NAME} thread)

 #rosbuild_add_executable(example examples/example.cpp)

 #target_link_libraries(example ${PROJECT_NAME})

 rosbuild_add_executable(glut_test src/glut_test.cpp)

 target_link_libraries(glut_test /usr/lib/libglut.a)

 target_link_libraries(glut_test /usr/lib/libglut.so)

///
glut_test.cpp
  #include <GL/glut.h>



 void renderScene(void) {
        

     glClear(GL_COLOR_BUFFER_BIT);

     glBegin(GL_TRIANGLES);

     glVertex3f(-0.5,-0.5,0.0);

     glVertex3f(0.5,0.0,0.0);

     glVertex3f(0.0,0.5,0.0);

     glEnd();

     glFlush();

 }



 int main(int argc, char **argv) {
    

     glutInit(&argc, argv);

     glutInitDisplayMode(GLUT_DEPTH | GLUT_SINGLE | GLUT_RGBA);

     glutInitWindowPosition(100,100);

     glutInitWindowSize(320,320);

     glutCreateWindow("3D Tech- GLUT Tutorial");

     glutDisplayFunc(renderScene);

     glutMainLoop();

     return 0;

 }

///

Writing a ROS CMakeLists.txt file

This page documents the CMake API provided byrosbuild.

You might first want to see some examples.

We use CMake to build ROS packages. You need to install CMake on your system. Each package requires a file, called CMakeLists.txt to tell CMake how to build it. This file is analogous to a Makefile as used by make.

If you're unfamiliar with CMakeLists.txt, that's ok, because most ROS packages follow a very simple pattern that is described below. Of course, you can always use the full power of CMake, for which you may want to consult theCMake documentation.

NOTE: To support older platforms, we useonly features that are available in CMake 2.4.6. Check the2.4.6 docs to verify the availability of a feature you want to use.