【ROS]ROS元功能包

逐一安装功能包的效率低下，在ROS中，提供了一种方式可以将不同的功能包打包成一个功能包，当安装某个功能模块时，直接调用打包后的功能包即可，该包又称为元功能包。

概念：MetaPackage是Linux的一个文件管理系统的概念，是ROS中的一个虚包，里面没有实质性的内容，但是它依赖了其他的软件包，通过这种方法可以把其他包结合起来。

作用：方便用户的安装，只需要这一个包就可以把其他相关的软件包组织到一起安装。

1.新建一个功能包，光填写功能包名即可，不需要填写依赖包名。

2.修改package.xml文件

<?xml version="1.0"?>
<package format="2">
  <name>plumbing_my</name>
  <version>0.0.0</version>
  <description>The plumbing_my package</description>

  <!-- One maintainer tag required, multiple allowed, one person per tag -->
  <!-- Example:  -->
  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
  <maintainer email="slam@todo.todo">slam</maintainer>


  <!-- One license tag required, multiple allowed, one license per tag -->
  <!-- Commonly used license strings: -->
  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
  <license>TODO</license>


  <!-- Url tags are optional, but multiple are allowed, one per tag -->
  <!-- Optional attribute type can be: website, bugtracker, or repository -->
  <!-- Example: -->
  <!-- <url type="website">http://wiki.ros.org/plumbing_my</url> -->


  <!-- Author tags are optional, multiple are allowed, one per tag -->
  <!-- Authors do not have to be maintainers, but could be -->
  <!-- Example: -->
  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->


  <!-- The *depend tags are used to specify dependencies -->
  <!-- Dependencies can be catkin packages or system dependencies -->
  <!-- Examples: -->
  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
  <!--   <depend>roscpp</depend> -->
  <!--   Note that this is equivalent to the following: -->
  <!--   <build_depend>roscpp</build_depend> -->
  <!--   <exec_depend>roscpp</exec_depend> -->
  <!-- Use build_depend for packages you need at compile time: -->
  <!--   <build_depend>message_generation</build_depend> -->
  <!-- Use build_export_depend for packages you need in order to build against this package: -->
  <!--   <build_export_depend>message_generation</build_export_depend> -->
  <!-- Use buildtool_depend for build tool packages: -->
  <!--   <buildtool_depend>catkin</buildtool_depend> -->
  <!-- Use exec_depend for packages you need at runtime: -->
  <!--   <exec_depend>message_runtime</exec_depend> -->
  <!-- Use test_depend for packages you need only for testing: -->
  <!--   <test_depend>gtest</test_depend> -->
  <!-- Use doc_depend for packages you need only for building documentation: -->
  <!--   <doc_depend>doxygen</doc_depend> -->
  <buildtool_depend>catkin</buildtool_depend>
  <exec_depend>plumbing_pub_sub</exec_depend>
  <exec_depend>plumbing_server_client</exec_depend>
  <exec_depend>plumbing_param_server</exec_depend>
  


  <!-- The export tag contains other, unspecified, tags -->
  <export>
    <metapackage />
  </export>
</package>

3.修改CMakeLists.txt文件

cmake_minimum_required(VERSION 3.0.2)
project(plumbing_my)
find_package(catkin REQUIRED)
catkin_metapackage()

注意：CMakeLists.txt文件中不可以有换行