创建ROS功能包后更改CMakeLists.txt和package.xml

一、C++实现的ROS功能包

1. CMakeLists.txt配置

cmake_minimum_required(VERSION 3.0.2)
project(learning_cplus)
#功能包名称
find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  message_generation
)
## Generate messages in the 'msg' folder
 add_message_files(
   FILES
   Message1.msg
   Message2.msg
 )


## Generate added messages and services with any dependencies listed here
#找寻依赖包 
 generate_messages(
   DEPENDENCIES
   std_msgs  # Or other packages containing msgs
 )
catkin_package(
  CATKIN_DEPENDS roscpp rospy std_msgs message_runtime
)
###########
## Build ##
###########
#编译依赖配置
include_directories(include ${catkin_INCLUDE_DIRS}) 

add_executable(publisher src/publisher.cpp) 
target_link_libraries(publisher ${catkin_LIBRARIES}) 
add_dependencies(publisher learning_cplus_generate_messages_cpp) 

add_executable(listener src/listener.cpp) 
target_link_libraries(listener ${catkin_LIBRARIES}) 
add_dependencies(listener learning_cplus_generate_messages_cpp)

include_directories(
# include
  ${catkin_INCLUDE_DIRS}
)

2. package.xml配置

<?xml version="1.0"?>
<package format="2">
  <name>learning_cplus</name>
  <version>0.0.0</version>
  <description>The learning_cplus package</description>
  <maintainer email="qy@todo.todo">qy</maintainer>
  <license>TODO</license>
  
  <buildtool_depend>catkin</buildtool_depend>
  <build_depend>roscpp</build_depend>
  <build_depend>rospy</build_depend>
  <build_depend>std_msgs</build_depend>
  <build_depend>message_generation</build_depend>

  <build_export_depend>roscpp</build_export_depend>
  <build_export_depend>rospy</build_export_depend>
  <build_export_depend>std_msg</build_export_depend>

  <exec_depend>roscpp</exec_depend>
  <exec_depend>rospy</exec_depend>
  <exec_depend>std_msgs</exec_depend>
  <exec_depend>message_runtime</exec_depend>
  
  <export>
  </export>
</package>

二、python实现的ROS功能包

1. CMakeLists.txt配置

cmake_minimum_required(VERSION 3.0.2)
project(learning_python)
find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  message_generation
)
 generate_messages(
   DEPENDENCIES
   std_msgs
 )

include_directories(
# include
  ${catkin_INCLUDE_DIRS}
)

2. package.xml配置

<?xml version="1.0"?>
<package format="2">
  <name>learning_python</name>
  <version>0.0.0</version>
  <description>The learning_python package</description>

  <maintainer email="qy@todo.todo">qy</maintainer>

  <license>TODO</license>
  <buildtool_depend>catkin</buildtool_depend>

  <build_depend>roscpp</build_depend>
  <build_depend>rospy</build_depend>
  <build_depend>std_msgs</build_depend>
  <build_depend>message_generation</build_depend>

  <build_export_depend>roscpp</build_export_depend>
  <build_export_depend>rospy</build_export_depend>
  <build_export_depend>std_msgs</build_export_depend>

  <exec_depend>roscpp</exec_depend>
  <exec_depend>rospy</exec_depend>
  <exec_depend>std_msgs</exec_depend>
  <exec_depend>message_runtime</exec_depend>

  <export>
    </export>
</package>