ROS2使用CMakeLists.txt编译节点方法和注意事项

先上编译成功的画面：

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编译步骤：

先在当前文件夹新建一个名字为CMakeLists.txt文件。（注意名字一定要一样，因为程序就是靠这个名字寻找文件的，千万别偷懒随便输入），然后在文件中输入一些ros中头文件的地址和库的地址和名字。

cmake_minimum_required(VERSION 3.22)

project(first_node)

include_directories(/opt/ros/humble/include/rcl/)
include_directories(/opt/ros/humble/include/rcutils/)
include_directories(/opt/ros/humble/include/rcl_yaml_param_parser/)
include_directories(/opt/ros/humble/include/rosidl_runtime_c/)
include_directories(/opt/ros/humble/include/rosidl_typesupport_interface/)
include_directories(/opt/ros/humble/include/rcpputils/)
include_directories(/opt/ros/humble/include/builtin_interfaces/)
include_directories(/opt/ros/humble/include/rmw/)
include_directories(/opt/ros/humble/include/rosidl_runtime_cpp/)
include_directories(/opt/ros/humble/include/tracetools/)
include_directories(/opt/ros/humble/include/rcl_interfaces/)
include_directories(/opt/ros/humble/include/libstatistics_collector/)
include_directories(/opt/ros/humble/include/statistics_msgs/)

# link_directories - 向工程添加多个特定的库文件搜索路径，相当于指定g++编译器的-L参数
link_directories(/opt/ros/humble/lib/)

# add_executable - 生成first_node可执行文件
add_executable(first_node first_ros2_node.cpp)

# target_link_libraries - 为first_node(目标) 添加需要动态链接库，相同于指定g++编译器-l参数
# 下面的语句代替 -lrclcpp -lrcutils
target_link_libraries(first_node rclcpp rcutils)

然后再在当前文件夹输入

CMake .  #  .代表的是当前文件夹

Than，你会在当前文件夹发现以下几个新文件。

最后输入在当前位置输入make命令就会出现第一幅图的界面。成功了。

提醒：

每一次尝试失败了以后，要把所有的生成文件删除，最好再把CmakeLists.txt 文件重新输入下。