2021-09-23

ROS中有对应msg文件,但是编译时无法生成相应的头文件

第一步,检查cmakelist.txt文件的find_package下是否添加了message_generation:

find_package(catkin REQUIRED COMPONENTS
    roscpp
    geometry_msgs
    pcl_conversions
    pcl_ros
    std_msgs
    sensor_msgs
    tf
    message_generation
)

在add_message_files文件中要添加需要编译的消息格式

add_message_files(
        FILES
        Lane.msg
        ControlCommand.msg
        ControlCommandStamped.msg
        Waypoint.msg
        LaneArray.msg
        PointsImage.msg
        ProjectionMatrix.msg
        ImageObj.msg
        ImageObjects.msg
        ImageObjTracked.msg
        ImageObjRanged.msg
        ImageRect.msg
        ImageRectRanged.msg
        DetectedObject.msg
        DetectedObjectArray.msg
        TrafficLightResult.msg
        TrafficLight.msg
        TrafficLightResultArray.msg
        ImageLaneObjects.msg
        ecu.msg

)

此外还要在generate_messages中添加标准消息格式

generate_messages(
        DEPENDENCIES
        std_msgs
        sensor_msgs
        geometry_msgs
)

编译库和可执行文件时要添加add_dependencies

add_executable(rollout_generator_node 
               nodes/rollout_generator/rollout_generator_node.cpp
               nodes/rollout_generator/rollout_generator.cpp
               utils/utils.cpp)
target_link_libraries(rollout_generator_node ${catkin_LIBRARIES})
add_dependencies(rollout_generator_node ${PROJECT_NAME}_generate_messages_cpp)

在package.xml 中

  <build_depend>message_generation</build_depend>\
  <build_depend>message_runtime</build_depend>
 
  <build_export_depend>message_generation</build_export_depend>
  <build_export_depend>message_runtime</build_export_depend>
 
  <exec_depend>message_generation</exec_depend>
  <exec_depend>message_runtime</exec_depend>