CMakeLists和packagexml中依赖项的使用说明

① cmakelist.txt部分

一般情况：

cmake_minimum_required(VERSION 2.8.3)
project(cv_bridge_tutorial_pkg)

find_package(catkin REQUIRED COMPONENTS
  cv_bridge
  image_transport
  roscpp
  sensor_msgs
  std_msgs
  )

find_package( OpenCV REQUIRED )

catkin_package()
include_directories(
  ${catkin_INCLUDE_DIRS}
  ${OpenCV_INCLUDE_DIRS}
)

add_executable(sample_cv_bridge_node src/sample_cv_bridge_node.cpp)
 target_link_libraries(sample_cv_bridge_node
   ${catkin_LIBRARIES}
   ${OpenCV_LIBRARIES}
 )

include_directories(${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS})

链接库：
        find_package()的作用是让cmake找到依赖的库，像boost，opencv这种普遍在用的库，已经提供了CMake模块，运行时不需要单独的共享库，只需要写成 find_package( OpenCV REQUIRED )、find_package(Boost REQUIRED)就可以了。
        但是有些功能就需要单独的库，比如boot线程实现或者大部分功能包依赖，写成find_package(Boost REQUIRED COMPONENTS thread)。
        如果没有Cmake模块可用，但是库的开发包提供了pkg-config文件。写成
        find_package(PkgConfig REQUIRED)
        pkg_check_modules(GSTREAMER REQUIRED libgstreamer-0.10)

头文件包含：
include_directories(include ${Boost_INCLUDE_DIRS} ${GSTREAMER_INCLUDE_DIRS})