【ROS2】同一工作空间下功能包B引用功能包A头文件

创建工作空间，在src目录下创建功能包A和功能包B，文件结构参考如下：

├── control_allocator
│   ├── CMakeLists.txt
│   ├── include
│   │   └── control_allocator
│   ├── package.xml
│   └── src
│       └── main.cpp
└── los_controller_law
    ├── CMakeLists.txt
    ├── include
    │   ├── los_controller_law
    │   │   ├── Los.hpp
    │   │   └── LosTracking.hpp
    │   ├── pid
    │   │   └── pid.hpp
    │   └── utils
    │       └── KinematicModel.hpp
    ├── package.xml
    └── src
        ├── KinematicModel.cpp
        ├── Los.cpp
        ├── LosTracking.cpp
        ├── main.cpp
        └── pid.cpp

上面例子，A为los_controller_law，B为control_allocator。
A的CMakeList.txt:

cmake_minimum_required(VERSION 3.5)
project(los_controller_law)

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
endif()

find_package(ament_cmake_auto REQUIRED)

ament_auto_find_build_dependencies()

set(SRC_LIST
  src/Los.cpp
  src/KinematicModel.cpp
  src/main.cpp
  src/LosTracking.cpp
  src/pid.cpp)

set(HEAD_LIST
  include/los_controller_law/Los.hpp
  include/los_controller_law/LosTracking.hpp
  include/pid/pid.hpp
  include/utils/KinematicModel.hpp
)

ament_auto_add_executable(los_controller_law 
  ${SRC_LIST}
)

# 库名不能和可执行文件重名
# 要先生成库才能被别的功能包链接和使用头文件
ament_auto_add_library(los_controller_lib SHARED
  ${SRC_LIST}
  ${HEAD_LIST}
)

ament_auto_package()

A的package.xml：

<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
  <name>los_controller_law</name>
  <version>0.0.0</version>
  <description>TODO: Package description</description>
  <maintainer email="xxxx@cuhk.edu.cn">xtark</maintainer>
  <license>TODO: License declaration</license>

  <buildtool_depend>ament_cmake</buildtool_depend>

  <depend>rclcpp</depend>
  <depend>std_msgs</depend>
  <depend>Eigen3</depend>
  <depend>geometry_msgs </depend>
  <depend>nav_msgs </depend>

  <test_depend>ament_lint_auto</test_depend>
  <test_depend>ament_lint_common</test_depend>

  <export>
    <build_type>ament_cmake</build_type>
  </export>
</package>

B的CMakeList.txt:

cmake_minimum_required(VERSION 3.5)
project(control_allocator)

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

set(SRC_LIST
        src/main.cpp)

find_package(ament_cmake_auto REQUIRED)

include_directories(include)

ament_auto_find_build_dependencies()

ament_auto_add_executable(control_allocator 
    src/main.cpp
)

ament_auto_package()

B的package.xml：

<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
  <name>control_allocator</name>
  <version>0.0.0</version>
  <description>TODO: Package description</description>
  <maintainer email="xxxx@cuhk.edu.cn">xtark</maintainer>
  <license>TODO: License declaration</license>

  <buildtool_depend>ament_cmake</buildtool_depend>

  <depend>rclcpp</depend>
  <depend>std_msgs</depend>
  <!-- 这里添加的以来是A功能包的project name -->
  <depend>los_controller_law</depend>

  <test_depend>ament_lint_auto</test_depend>
  <test_depend>ament_lint_common</test_depend>

  <export>
    <build_type>ament_cmake</build_type>
  </export>
</package>

在功能包中就可以正常引入头文件了：

#include "los_controller_law/Los.hpp"
#include "pid/pid.hpp"