ROS中CMakeLists.txt和package.xml参考样例

最新推荐文章于 2023-07-26 20:45:10 发布

ThinkOver33

最新推荐文章于 2023-07-26 20:45:10 发布

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分类专栏： ROS c++ 文章标签： CMakeLists gcc优化等级

本文链接：https://blog.csdn.net/daybreak222/article/details/84644034

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2019.03.04更新：一些CMakelists里面的编译选项，这里参考了https://blog.csdn.net/feisy/article/details/17711957的博文

set(CMAKE_BUILD_TYPE "Release")

if( CMAKE_BUILD_TYPE STREQUAL "Debug" )
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -g -Wall -Wno-unused-variable -pthread")
else( CMAKE_BUILD_TYPE STREQUAL "Debug" )
    set(CMAKE_BUILD_TYPE "Release")
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -O2 -pthread -fopenmp")
endif( CMAKE_BUILD_TYPE STREQUAL "Debug" )
message("Build Type:"${CMAKE_BUILD_TYPE} ${CMAKE_CXX_FLAGS})

debug模式下,加-Os，速度会快

Release模式下，加 -O2,和不加，程序运行速度有比较显著的差异

再补充一些关于GCC的优化等级的问题：

少优化->多优化：

O0 -->> O1 -->> O2 -->> O3

-O0表示没有优化,-O1为缺省值，-O3优化级别最高

下面参考 https://blog.csdn.net/yanghan1233/article/details/51201967 中的说法：

gcc - o1 首先o1上面还有一个o0,那个是不提供任何优化，项目中几乎不会使用，而o1使用就非常广泛了，o1是最基本的优化，主要对代码的分支，表达式，常量来进行优化，编译器会在较短的时间下将代码变得更加短小，这样体积就会变得更小，会减少内存的占用率，在操作系统进行内存调度时就会更快。但是事情没有绝对的优点，当一个庞大的程序被拆碎细分的话，内存占用会大大增加，由于当今系统大多数都是多线程，就会出现卡顿和反应延迟。

gcc - o2 这个优化级别是o1的进阶，在上一级的基础上会进行更严格的细分，最重要的是加入了寄存器的使用。寄存器是cpu中重要的组成部分，此外还有运算器和控制器，计算机顾名思义，要进行各种庞杂的计算，由于cpu速度较快，所以计算的中间结果都会保存在寄存器中，这样可以大大提高系统的效率，但是寄存器造价高昂，数量有限，所以一般来说程序不会放在寄存器中，另一种将代码放在寄存器的方式是使用register修饰变量，适用于频繁调用的变量。

gcc - o3 这个优化属于非常强大的优化，因为编译器会进行预测，对循环每一层的预测，以便于将循环拆分，可以提高执行效率。编译器还会试图用已有的值来代替未知的值，并且还会用加代替乘，因为运算器的特性，乘法十分复杂耗时。当然o3的缺点最明显，那就是o3因为试图预测程序的走向，可能会出现误差，导致错误和程序不可逆转的走向。所以一般o3不建议使用。

博文 https://blog.csdn.net/lanmanck/article/details/5776173 对-Os有如下描述：

在研究编译驱动的makefile的时候，发现GCC的命令行里面有一个-Os的优化选项。
    遍查GCC文档，发现了-O0, -O1, -O2, -O3，就是没有发现-Os。
    祭出GOOGLE大法搜了一下，终于发现这篇文章说明了-Os的作用：
http://www.linuxjournal.com/article/7269

   原来-Os相当于-O2.5。是使用了所有-O2的优化选项，但又不缩减代码尺寸的方法。
   详细的说明如下：
Level 2.5 (-Os)

The special optimization level (-Os or size) enables all -O2 optimizations that do not increase code size; it puts the emphasis on size over speed. This includes all second-level optimizations, except for the alignment optimizations. The alignment optimizations skip space to align functions, loops, jumps and labels to an address that is a multiple of a power of two, in an architecture-dependent manner. Skipping to these boundaries can increase performance as well as the size of the resulting code and data spaces; therefore, these particular optimizations are disabled. The size optimization level is enabled as:

gcc -Os -o test test.c
In gcc 3.2.2, reorder-blocks is enabled at -Os, but in gcc 3.3.2 reorder-blocks is disabled.

==============================
补充：在GCC的官方文档里又发现了关于-Os的说明：
http://gcc.gnu.org/onlinedocs/gcc-3.4.6/gcc/Optimize-Options.html#Optimize-Options

//=====================下面是原文的参考样例=======================

cmake_minimum_required(VERSION 2.8.3)
project(beginner_tutorials)

## Find catkin and any catkin packages
find_package(catkin REQUIRED COMPONENTS 
 roscpp
 rospy
 std_msgs
 message_generation)

## Declare ROS messages and services
add_message_files(FILES Num.msg)
add_service_files(FILES AddTwoInts.srv)

## Generate added messages and services
add_service_files(
  FILES
  AddTwoInts.srv
)
generate_messages(DEPENDENCIES std_msgs)
## Declare a catkin package
catkin_package()

## Build talker and listener
include_directories(include ${catkin_INCLUDE_DIRS})

add_executable(talker src/talker.cpp)
target_link_libraries(talker ${catkin_LIBRARIES})
add_dependencies(talker beginner_tutorials_generate_messages_cpp)

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

add_executable(add_two_ints_server src/add_two_ints_server.cpp)
target_link_libraries(add_two_ints_server ${catkin_LIBRARIES})
add_dependencies(add_two_ints_server beginner_tutorials_gencpp)

add_executable(add_two_ints_client src/add_two_ints_client.cpp)
target_link_libraries(add_two_ints_client ${catkin_LIBRARIES})
add_dependencies(add_two_ints_client beginner_tutorials_gencpp)

cmake_minimum_required(VERSION 2.8.3)
project(carla_localization)

find_package(catkin REQUIRED
roscpp
rospy
carla_ros_bridge
sensor_msgs
pcl_ros
pcl_conversions
message_generation)

find_package(PCL REQUIRED)

add_message_files(FILES speed.msg)
## Generate added messages and services with any dependencies listed here
generate_messages(
  DEPENDENCIES
  sensor_msgs
  # geometry_msgs
  std_msgs  # Or other packages containing msgs
)

catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES carla_localization
#  CATKIN_DEPENDS other_catkin_pkg
#  DEPENDS system_lib
)

# 指定构建project所需要的资源
include_directories(${PCL_INCLUDE_DIRS})#包含头文件的位置
link_directories(${PCL_LIBRARY_DIRS})#添加链接器的lib库文件路径
add_definitions(${PCL_DEFINITIONS})

include_directories("./src/BasicFuns")
add_subdirectory("./src/BasicFuns") #这里还是文件夹的名字
## Build talker and listener
include_directories(include ${catkin_INCLUDE_DIRS})

# add_executable(receiver src/receiver.cpp)
# target_link_libraries(receiver ${catkin_LIBRARIES} ${PCL_LIBRARIES} basicFun)

# add_executable(localization src/receive_localization.cpp)
# target_link_libraries(localization ${catkin_LIBRARIES} ${PCL_LIBRARIES} basicFun)

add_executable(localizationICP src/localization_ICP.cpp)
target_link_libraries(localizationICP ${catkin_LIBRARIES} ${PCL_LIBRARIES} basicFun)

add_executable(local src/local_localization.cpp)
target_link_libraries(local ${catkin_LIBRARIES} ${PCL_LIBRARIES} basicFun)

add_executable(localization src/localization_online.cpp)
target_link_libraries(localization ${catkin_LIBRARIES} ${PCL_LIBRARIES} basicFun)

add_executable(localGT src/local_gt.cpp)
target_link_libraries(localGT ${catkin_LIBRARIES} ${PCL_LIBRARIES} basicFun)

add_executable(mapsending src/Map2rviz.cpp)
target_link_libraries(mapsending ${catkin_LIBRARIES} ${PCL_LIBRARIES} basicFun)

下面是package.xml

<?xml version="1.0"?>
<package format="2">
  <name>carla_localization</name>
  <version>0.0.1</version>
  <description>The carla_localization package</description>

  <!-- One maintainer tag required, multiple allowed, one person per tag -->
  <!-- Example:  -->
  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
  <maintainer email="think33@todo.todo">think33</maintainer>


  <!-- One license tag required, multiple allowed, one license per tag -->
  <!-- Commonly used license strings: -->
  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
  <license>TODO</license>

  <buildtool_depend>catkin</buildtool_depend>
  <build_depend>rospy</build_depend>
  <build_depend>roscpp</build_depend>
  <build_depend>sensor_msgs</build_depend>
  <build_depend>tf</build_depend>
  <build_depend>libpcl-all-dev</build_depend>
  <build_export_depend>rospy</build_export_depend>
  <build_export_depend>roscpp</build_export_depend>
  <build_export_depend>sensor_msgs</build_export_depend>
  <build_export_depend>tf</build_export_depend>
  <!-- <exec_depend>rospy</exec_depend> -->
  <exec_depend>roscpp</exec_depend>
  <exec_depend>sensor_msgs</exec_depend>
  <exec_depend>tf</exec_depend>
  <exec_depend>tf2</exec_depend>
  <exec_depend>rviz</exec_depend>
  <exec_depend>ackermann_msgs</exec_depend>
  <exec_depend>cv_bridge</exec_depend>
  <exec_depend>geometry_msgs</exec_depend>
  <exec_depend>std_msgs</exec_depend>
  <exec_depend>rosbag_storage</exec_depend>
  <!-- <run_depend>libpcl-all</run_depend> -->

  <!-- The export tag contains other, unspecified, tags -->
  <export>
    <!-- Other tools can request additional information be placed here -->

  </export>
</package>

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

  <!-- One maintainer tag required, multiple allowed, one person per tag -->
  <!-- Example:  -->
  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
  <maintainer email="think33@todo.todo">think33</maintainer>


  <!-- One license tag required, multiple allowed, one license per tag -->
  <!-- Commonly used license strings: -->
  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
  <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_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>
  <build_depend>message_generation</build_depend>
  <!-- <run_depend>message_runtime</run_depend> -->
  <!-- The export tag contains other, unspecified, tags -->
  <export>
    <!-- Other tools can request additional information be placed here -->

  </export>
</package>