ros CMakeLists.txt template

最新推荐文章于 2023-05-19 15:45:02 发布

哈利马其

最新推荐文章于 2023-05-19 15:45:02 发布

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本文链接：https://blog.csdn.net/lybhit/article/details/123359054

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ROS CMakeLists.txt 模板编译配置依赖管理

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这里记录一个使用ros的CMakeLists.txt的模板，方便以后套用。

示例

cmake_minimum_required(VERSION 3.0.2)
project(rs_parse)

set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -O3")
 
find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  pcl_ros
  pcl_conversions
  std_msgs
  sensor_msgs
 )
 
catkin_package(
  INCLUDE_DIRS
  DEPENDS PCL
)
 
include_directories(
    include
    ${catkin_INCLUDE_DIRS}
    ${PCL_INCLUDE_DIRS}
)
 
link_directories(
    include
    ${PCL_LIBRARY_DIRS}
)
 
add_executable(rs_to_velodyne src/rs_to_velodyne.cpp)
add_dependencies(rs_to_velodyne ${catkin_EXPORTED_TARGETS})
target_link_libraries(rs_to_velodyne ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES})

## from another repo
install(TARGETS
		${PROJECT_NAME}_filter_nodelet
		${PROJECT_NAME}_multi_sensor_nodelet
		${PROJECT_NAME}_control_nodelet
		${PROJECT_NAME}_debug_nodelet
  		RUNTIME DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  		LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})

install(FILES nodelet.xml DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
install(DIRECTORY launch/release/
        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch)
install(DIRECTORY config/filtering/
        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config/filtering)
install(DIRECTORY config/sensor/
        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config/sensor)
install(DIRECTORY rviz/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/rviz)