CMakelists 文件 bug记录

11小白学习,大神勿喷!

1 固定库指定

set(LCM_DIR    ${PROJECT_SOURCE_DIR}/include/lcmtype_dir)
set(LCMLAB_DIR  ${PROJECT_SOURCE_DIR}/include/lcmlib)

include_directories(
  ${LCM_DIR}
  ${LCMLAB_DIR}
)

2 自己cpp文件为库文件

add_library(lcm_server
 src/GPSConversion.cpp
 include/lcmtype_dir/laser_t.cpp
 include/lcmtype_dir/pose_t.cpp
 include/lcmtype_dir/robot_control_t.cpp
)

target_link_libraries(lcm_send
lcm_server lcm pthread   
)

lcm_server 链接到自己的库上

ros opencv3 路径指定

set(OpenCV_DIR /opt/ros/kinetic/share/OpenCV-3.3.1-dev)
# find_package(OpenCV 3  REQUIRED)

设置为固定路径,代替find_package

下面链接opencv库是一样的

include_directories( ${OpenCV_INCLUDE_DIRS})
#
target_link_libraries(${PROJECT_NAME}
 ${OpenCV_LIBRARIES}  
)

错误： No rule to make target ‘/opt/ros/kinetic/lib/liborocos-kdl.so.1.3.0’

查看自己的安装库下有

zlt@Inspiron:~/rosproject/autolabor$ locate liborocos-kdl
/opt/ros/kinetic/lib/liborocos-kdl.so
/opt/ros/kinetic/lib/liborocos-kdl.so.1.3
/opt/ros/kinetic/lib/liborocos-kdl.so.1.3.2

创建软连接的方式

cd /opt/ros/kinetic/lib/
 sudo ln -s /opt/ros/kinetic/lib/liborocos-kdl.so.1.3 /opt/ros/kinetic/lib/liborocos-kdl.so.1.3.0

错误 undefined reference to symbol ‘pthread_mutexattr_settype@@GLIBC_2.2.5’

SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -pthread")

错误 undefined reference to `pcl::search::Searchpcl::PointXYZI::getNameabi:cxx11 const’

点云库没有链接

find_package(PCL 1.7 REQUIRED)

target_link_libraries(multi_lidar_calibrator_lib
        ${catkin_LIBRARIES} ${PCL_LIBRARIES} 
        )

# 配合添加头文件
#include <pcl/search/impl/search.hpp>

升级CMKAE

sudo pip install --upgrade cmake==3.13.2

更换gcc版本

sudo apt install gcc-4.9 g++-4.9
sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-6 60 --slave /usr/bin/g++ g++ /usr/bin/g++-6
sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-4.9 50 --slave /usr/bin/g++ g++ /usr/bin/g++-4.9

update-alternatives --list gcc
update-alternatives --set gcc /usr/bin/gcc-4.9

打印变量值在这里插入代码片

MESSAGE( STATUS “this var key = ${USER_KEY}.”)

eigen3 使用 自己源码安装路径

/usr/local/include/eigen3/

头文件找不到

注意使用时候的

#include “   your.h”

Cmakelist 中

include_directories(
方法一：  # include
 
方法二：  ${CMAKE_CURRENT_SOURCE_DIR}/include/ 
)

/usr/bin/ld: cannot find -lgfortran

gcc 版本不对。gcc7 换到gcc5so

x86_64

if("${CMAKE_SYSTEM_PROCESSOR}" STREQUAL "x86_64" AND NOT APPLE)
  add_definitions(-fPIC)
endif()