转载一篇catkin总结不错的原创：http://blog.csdn.net/zyh821351004/article/details/50388429
catkin 编译支持传入cmake的宏定义编译参数(--cmake-args -Dxxx=YY)进去，类似makefile；
eg:
catkin build rovio --cmake-args -DCMAKE_BUILD_TYPE=Release -DMAKE_SCENE=ON
1. catkin_make 与cmake的关系
程序在cmake编译是这样的流程, cmake指令依据你的CMakeLists.txt 文件,生成makefiles文件,make再依据此makefiles文件编译链接生成可执行文件.
catkin_make是将cmake与make的编译方式做了一个封装的指令工具, 规范了工作路径与生成文件路径.
1) cmake标准流程
2) catkin_make 的流程
2 catkin_make
1) catkin_make默认的路径信息
#### Running command: "make -j4" in "/home/user/catkin_ws/build"
2) layout :ros工作空间文件系统结构
工作空间
源空间
编译空间
开发空间
安装空间 -DCMAKE_INSTALL_PREFIX=/any/directorycmake默认是/usr/local
系统安装空间 /opt/ros/ROSDISTRO
结果空间 source RESULT-SPACE/setup.sh 类似扫描安装空间与开发空间,替换系统通用下的对应文件.
3) Overlays
catkin支持包的逐层覆盖, 当前最高,其它依据source的顺序逐层变高, 高层可覆盖低层.
ros 环境变量设置 可以参考 .bashrc文件： ros工作环境设置
4) 混合 Mixing catkin And rosbuild Workspaces
catkin was designed to allow rosbuild packages to sit on top of catkin ones. This is accomplished by using overlays.
注: 我们在系统文件夹下的 .bashrc 中加入相应的source文件, 就是为了添加ros 的环境变量等信息.
Differences in CMakeLists.txt for rosbuild and catkin
5) catkin_make 编译指定的包.
$ catkin_make -DCATKIN_WHITELIST_PACKAGES="package1;package2"
恢复编译所有的包
$ catkin_make -DCATKIN_WHITELIST_PACKAGES=""
3 catkin
4. package. xml 与 CMakeList. txt
4.1 package. xml
每个包的描述文件,都需要放置在包的根目录下,对包的名字/版本/作者/维护者/依赖关系进行说明.与rosbuild中的manifest.xml相似.
依赖不正确在本地可以可以编译通过,但不能在ROS社区正确工作起来.
4.1.1 格式
C++ catkin library dependencies
6种依赖标签
Build Dependencies 指出你的包编译需要依赖的包.
Build Export Dependencies 指出你的包编译导出库 (???): b依赖a的头文件,要想c只依赖b. 我认为是避免多次依赖.
specify which packages are needed to build libraries against this package. This is the case when you transitively include their headers in public headers in this package (especially when these packages are declared as (CATKIN_)DEPENDS in catkin_package() in CMake).
Execution Dependencies 执行时依赖
Test Dependencies 单元测试
Build Tool Dependencies 编译系统工具
Documentation Tool Dependencies doc生成工具
4.1.2 Metapackages 将多个包组合成一个逻辑包
仅需要标签: <buildtool_depends> 依赖 catkin 和 <run_depend>
对应cmakelists.txt中
========例如 universal_robot======================================
4.2 CMakeLists.txt
cmak 不会找package.xml文件, 但catkin需要. 依据cmakelists.txt文件编译需要清晰指出头文件和库文件的指向.
Finding the library
需要在package.xml中使用标签<depend> 或者<build_depend>
Include directories
Exporting interfaces
需要在package.xml中使用<depend> 或者<build_export_depend>,catkin_package() 命令仅调用一次,它需要额外的参数依赖
于你的包导出的依赖.
4.3 C++ 系统库依赖
Finding the library
1) 依据CMake module . 大部分的boost 库在头文件完全实现,运行时不需要独立的分享连接.
find_package(Boost REQUIRED)但boost thread 运行时需要库,必须指出组件thread .
find_package(Boost REQUIRED COMPONENTS thread)find_package() 之后就可以用此编译和连接了. 命名规则基本是这样: ${name}_INCLUDE_DIRS and ${name}_LIBRARIES .有时不遵循
camke社区标准命名的就请到到answers.ros.org发问.
2) cmake modules 无效情况下,但库开发包提供了pkg-config module . 编译标签
find_package(PkgConfig REQUIRED) pkg_check_modules(GSTREAMER REQUIRED libgstreamer-0.10)
pkg_check_modules() 参数声明了一个cmake前缀,GSTREAMER_INCLUDE_DIRS 和GSTREAMER_LIBRARIES
PkgConfig 编译应用与连接的帮助工具. 用于命令行中插入正确的编译选项. (.pc文件 ) libgstreamer-0.10.pc.
Include directories
include_directories(include ${Boost_INCLUDE_DIRS} ${GSTREAMER_INCLUDE_DIRS})
如有依赖catkin 包 ,再添加
${catkin_INCLUDE_DIRS}
Exporting interfaces
catkin_package(DEPENDS Boost GSTREAMER)确保所有的包在 package.xml被用到, <build_export_depend> 和 <depend> 标签.
标准命名 ${name}_INCLUDE_DIRS and${name}_LIBRARIES . catkin包一般是小写,大写(asGSTREAMER) 或混合 (likeBoost)
4.4 编译安装 C++ libraries and headers
include_directories(include
${catkin_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
${GSTREAMER_INCLUDE_DIRS})
add_library(your_library libsrc1.cpp libsrc2.cpp libsrc_etc.cpp)
set(YOUR_LIB_SOURCES
libsrc1.cpp
libsrc2.cpp
libsrc3.cpp
libsrc4.cpp
libsrc_etc.cpp)
add_library(your_library ${YOUR_LIB_SOURCES})
target_link_libraries(your_library ${catkin_LIBRARIES})
target_link_libraries(your_library
${catkin_LIBRARIES}
${Boost_LIBRARIES}
${GSTREAMER_LIBRARIES})
catkin_package(CATKIN_DEPENDS std_msgs
DEPENDS Boost
INCLUDE_DIRS include
LIBRARIES your_library)
<depend>std_msgs</depend> <build_export_depend>boost</build_export_depend>
安装
install(TARGETS your_library your_other_library
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
PATTERN ".svn" EXCLUDE)
4.5 编译安装 C++ 执行文件
include_directories(include
${catkin_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
${GSTREAMER_INCLUDE_DIRS})
add_executable(your_node src1.cpp src2.cpp src_etc.cpp)
set(${PROJECT_NAME}_SOURCES
src/file1.cpp
src/file2.cpp
src/file3.cpp
src/file4.cpp
src/file5.cpp
src/file6.cpp
src/file_etc.cpp)
add_executable(your_node ${${PROJECT_NAME}_SOURCES})
add_executable(your_node ${${PROJECT_NAME}_SOURCES})
target_link_libraries(your_node ${catkin_LIBRARIES})
add_executable(your_node ${${PROJECT_NAME}_SOURCES})
target_link_libraries(your_node
${catkin_LIBRARIES}
${Boost_LIBRARIES}
${GSTREAMER_LIBRARIES})
ros下的安装,使得rosrun 与roslaunch能够使用.需要下面的方式安装.
install(TARGETS your_node
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
安装 cmake文件
catkin_package(CFG_EXTRAS your_macros.cmake your_modules.cmake)
install(FILES cmake/your_macros.cmake cmake/your_modules.cmake
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/cmake)
install(DIRECTORY cmake
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
PATTERN ".svn" EXCLUDE)
4.6 CMake coding standards
4.7 CMake Variables
参考:
http://wiki.ros.org/catkin
http://wiki.ros.org/catkin/commands/catkin_make
http://wiki.ros.org/cn/ROS/Tutorials/catkin/BuildingPackages
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