cmakelists.txt文件示例代码

 我从ros2的官网拿来一段很好的实力代码：设计机器人的可真的太厉害了---我连一个机器人的传感器都要设计不知道多少个月可能。把整个机器人做出来不知道要多久啊

add_library(action_client SHARED
  src/fibonacci_action_client.cpp)
target_include_directories(action_client PRIVATE
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
  $<INSTALL_INTERFACE:include>)
target_compile_definitions(action_client
  PRIVATE "CUSTOM_ACTION_CPP_BUILDING_DLL")
ament_target_dependencies(action_client
  "custom_action_interfaces"
  "rclcpp"
  "rclcpp_action"
  "rclcpp_components")
rclcpp_components_register_node(action_client PLUGIN "custom_action_cpp::FibonacciActionClient" EXECUTABLE fibonacci_action_client)
install(TARGETS
  action_client
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin)

add_library(action_client SHARED
  src/fibonacci_action_client.cpp)

这一句如果在ubuntu大概意思：  gcc  -shared o libfibonacci_action_client.so   -c  src/fibonacci_action_client.cpp

---------------------------
target_include_directories(action_client PRIVATE
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
  $<INSTALL_INTERFACE:include>)

这句大概意思就是添加编译时候需要的头文件搜索目录

---------------------
target_compile_definitions(action_client
  PRIVATE "CUSTOM_ACTION_CPP_BUILDING_DLL")