ROS学习笔记—-- catkin

一、catkin
catkin编译过程：
1.查找workspace(catkin_ws)下的src的package
2.catkin编译系统依据 Cmakelists.txt 和 package.xml 文件，生成 makefiles(catkin_ws/build/)
3.make makefiles文件，生成可执行文件 (放在catkin_ws/devel中)
cakin 相当于cmake 和 make 的封装完成编译的工具

命令：catkin_make

mkdir -p ~/catkin_ws/src
cd catkin_ws/src
catkin_init_workspace #建立工作空间
catkin_create_pkg package1 rospy roscpp std_msgs #创建功能包，catkin_create_pkg+包名+依赖包
cd ~/catkin_ws #转移到工作空间目录下
catkin_make #编译

CmakeLists.txt:
作用：cmake编译系统的规则文件

cmake_minimun_required()#CMake版本号
project()#项目名
find_package()#找到编译需要的其他包
catkin_python_setup()#打开python module支持
add_message_files()#添加自定义的Message/Service/Action文件
add_service_files()
add_action_files()
generate_message()#生成不同语言版本的msg/sv/action接口
catkin_package()#生成当前package的cmake配置,供依赖本包的其他软件包调用
add_library()#生成库
add_executable()#生成可执行文件
target_link_libraries()#链接
catkin_add_gtest()#生成测试
install()#安装至本机

具体参考《CMake实践》：https://github.com/Akagi201/learning-cmake/blob/master/docs/cmake-practice.pdf
以海龟为例：

cmake_minimun_required(VERSION 3.0.2)
project(turtlesim)#$(PROJECT_NAME引用项目名称)

find_package(catkin REQUIRED COMPONENTS 
roscpp
roscpp_serialization
roslib
rostime
rosconsole
std_msgs
std_srvs
geometry_msgs
message_generation
)#指定依赖包(catkin是必备以来，其余为组件)
find_package(QT5Weights REQUIRED)
find_package(Boost REQUIRED COMPONENTS thread)

include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})#指定C++的头文件路径
link_directories(${catkin_LIBRARY_DIRS})#指定链接库的路径
add_message_files(DIRECTORY msg FILES
COlor.msg Pose.msg)#自定义msg文件
add_service_files(DIRECTORY srv FILES
Kill.srv
SetPen.srv
Spawn.srv
TeleportAbsolute.srv
TeleportRelative.srv)#自定义srv文件

generate_messages(DEPENDENCIES geometry_msgs std_,sgs std_srvs)#add_message_files、add_service_files之后必须加上这句话,用于生成头文件，文件位于devel/include中

catkin_package(CATKIN_DEPENDS geometry_msgs message_runtime std_msgs std_srvs)# 配置ROS的package配置文件和CMake文件
```c
# 必须在add_library()或者add_executable()之前调用
# 有5个可选参数：
# INCLUDE_DIRS - 导出包的include路径
# LIBRARIES - 导出项目中的库
# CATKIN_DEPENDS - 该项目依赖的其他catkin项目
# DEPENDS - 该项目所依赖的非catkin CMake项目。
# CFG_EXTRAS - 其他配置选项

set(turtlesim_node_SRCS
src/turtlesim.cpp
src/turtle.cpp
src/turtle_frame.cpp
)
set(turtlesim_node_HDRS
include/turtlesim/turtle_frame.h
)#指定turtlesim_node_SRCS、turtlesim_node_HDRS变量
qt5_wrap_cpp(turtlesim_node_MOCS ${turtlesim_node_HDRS})

add_executable(turtlesim_node ${turtlesim_node_SRCS} ${turtlesim_node_MOCS})# 指定可执行文件目标turtlesim_node
target_link_libraries(turtlesim_node Qt5::Widgets ${catkin_LIBRARIES} ${Boost_LIBRARIES})# 指定链接可执行文件
add_dependencies(turtlesim_node turtlesim_gencpp)

add_executable(turtle_teleop_key tutorials/teleop_turtle_key.cpp)
target_link_libraries(turtle_teleop_key ${catkin_LIBRARIES})
add_dependencies(turtle_teleop_key turtlesim_gencpp)

add_executable(draw_square tutorials/draw_square.cpp)
target_link_libraries(draw_square ${catkin_LIBRARIES} ${Boost_LIBRARIES})
add_dependencies(draw_square turtlesim_gencpp)

add_executable(mimic tutorials/mimic.cpp)#指定可执行目标
target_link_libraries(mimic ${catkin_LIBRARIES})＃链接
add_dependencies(mimic turtlesim_gencpp)＃依赖

install(TARGETS turtlesim_node turtle_teleop_key draw_square mimic
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})# 安装目标文件到本地系统

install(DIRECTORY images
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
FILES_MATCHING PATTERN “.png” PATTERN “.svg”)

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