linux下解读编译Cmakelist编译方式并拓展到ROS

在linux下C/C++的编译方式不像windows下IDE方式编译，一般常用到的就是cmake和make。
总的流程是这样的：
先执行cmake（依赖于cmakelist），生成makefile，执行make操作。
ros中catkin_make只用到了Cmakelist。
首先解读Cmakelist文件里面各种命令的所代表的含义：

1、Cmakelist：

Cmakelist的编译方式通过下面进行：

1，依赖CMakeLists.txt文件，项目主目标一个，主目录中可指定包含的子目录；
2，在项目CMakeLists.txt中使用project指定项目名称，add_subdirectory添加子目录
3，子目录CMakeLists.txt将从父目录CMakeLists.txt继承设置

Cmakelist的内部变量含义：

CMAKE_C_COMPILER（CMAKE_CXX_COMPILER）：指定C编译器
CMAKE_C_FLAGS：编译C文件时的选项，如-g；也可以通过add_definitions添加编译选项
EXECUTABLE_OUTPUT_PATH：可执行文件的存放路径
LIBRARY_OUTPUT_PATH：库文件路径
CMAKE_BUILD_TYPE:：build 类型(Debug, Release, …)，CMAKE_BUILD_TYPE=Debug
BUILD_SHARED_LIBS：Switch between shared and static libraries

Cmakelist的一般成分主要为：

project ()   #指定项目名称；

一般使用${HELLO_SOURCE_DIR}表示项目根目录

set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_SOURCE_DIR}/bin //生成可执行文件的路径

aux_source_directory ()#将当前目录下所有源文件存储在指定列表中

include_directories：指定头文件的搜索路径，相当于指定gcc的-I参数

link_directories：动态链接库或静态链接库的搜索路径，相当于gcc的-L参数

add_subdirectory：包含子目录

add_executable：生成可执行程序，指定编译

add_definitions：添加编译参数

例如： add_definitions(-DDEBUG)将在gcc命令行添加DEBUG宏定义；

      add_definitions( “-Wall -ansi –pedantic –g”)

target_link_libraries：添加链接库

add_library(source_lib ${DIR_SOURCE_SRCS})   将变量${DIR_SOURCE_SRCS}中的文件编译成一个静态库 所在目录为当前文件夹下

例如：add_library(Hello hello.cxx)  #将hello.cxx编译成静态库如libHello.a

如果想生成动态库 则修改

add_library(source_lib ${DIR_SOURCE_SRCS})为

add_library(source_lib SHARED ${DIR_SOURCE_SRCS}) 

2、（ROS）上面是一般cmake所用到的命令及含义，下面将描述ros所用到的cmakelist的用法：

CMake版本(cmake_minimum_required)

项目名称(project())

查找所需的其他CMake / Catkin软件包 (find_package())

添加所需的头文件库/搜索头文件的路径include_directories( imported-lib/include/ )

消息/服务/动作生成器(add_message_files(), add_service_files(), add_action_files())

生成消息/服务/动作等自定义消息(generate_messages())

指定包的构建信息输出 (catkin_package())

要建立的库(add_library())

link_directories #库路径

添加可执行选项/生成可执行文件add_executable()

add_dependencies() #如果我们构建的可执行文件需要其他的可执行文件才能完成，才需要添加依赖关系

添加链接库target_link_libraries())

ros中cmake的内部变量及含义：

INCLUDE_DIRS - 导出包的include路径

LIBRARIES - 导出项目中的库

CATKIN_DEPENDS - 该项目依赖的其他catkin项目

DEPENDS - 该项目所依赖的非catkin CMake项目。

大部分的用法是等价于一般cmakelist的，只不过多了一些ros自带的一些东西（如有需要请自己区分查找）。下面给出一个项目中的Cmakelist：

cmake_minimum_required(VERSION 2.8.3)
project(asr_trx)

add_definitions("-Wall -MMD -g") 
SET(CMAKE_C_COMPILER gcc)
set(CMAKE_LIBRARY_PATH "/home/yf415/asr_trx/src/asr_trx/lib")
#if(CMAKE_COMPILER_IS_GNUCXX)
#   add_compile_options(-std=c++11)
#　 message(STATUS "optional:-std=c++11")
#endif(CMAKE_COMPILER_IS_GNUCXX)
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  jack_msgs
  message_generation
)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)


## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
add_message_files(
   FILES
#   Audio.msg
#   Message2.msg
 )

## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

## Generate added messages and services with any dependencies listed here
generate_messages(
   DEPENDENCIES
   std_msgs
 )

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
  INCLUDE_DIRS include
#  LIBRARIES asr_trx
  CATKIN_DEPENDS roscpp rospy std_msgs jack_msgs message_runtime
#  DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
 include
  ${catkin_INCLUDE_DIRS}
  ${JACK_INCLUDE_DIRS}
)

## Declare a C++ library
# add_library(${PROJECT_NAME}
#   src/${PROJECT_NAME}/asr_trx.cpp
# )

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/asr_trx_node.cpp)

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
#   ${catkin_LIBRARIES}
# )

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables and/or libraries for installation
# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_asr_trx.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
add_executable(rx src/main.cc src/kws.cc src/rx.c src/device.c src/sched.c)
add_dependencies(rx ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(rx ${catkin_LIBRARIES} -lmobvoisdk -ldl -lopus -lortp -lasound -lm -lrt -lcrypt -lpthread -lstdc++)

值得注意ros中cmakelist是搭配package.xml编译的，有些改动需要自己在package.xml中同步修改。

（完）