【ROS】在ROS内包含第三方库，并根据处理器架构自动调用

如图所示，在planning功能包内包含了第三方库armadillo，该库当前为x86_64架构下编译

在cmakelist中应做响应修改，使得cmake能识别该库
又由于不同系统架构下编译的库文件不通用，cmakelist应根据系统架构自行切换包含目录
cmakelist 修改如下

## 检测处理器架构体系
if(CMAKE_HOST_SYSTEM_PROCESSOR MATCHES "i386")
  message(STATUS "i386 architecture detected")

elseif(CMAKE_HOST_SYSTEM_PROCESSOR MATCHES "i686")
  message(STATUS "i686 architecture detected")

elseif(CMAKE_HOST_SYSTEM_PROCESSOR MATCHES "x86_64")
  message(STATUS "x86_64 architecture detected")
  set(LIBARMADILLO_LIB_DIR  "${CMAKE_CURRENT_LIST_DIR}/3rd_party/amd_x86_64/armadillo_11.1.1/lib/libarmadillo.so") # matlab函数库armadillo
  set(LIBARMADILLO_INC_DIR  "${CMAKE_CURRENT_LIST_DIR}/3rd_party/amd_x86_64/armadillo_11.1.1/include ") # matlab函数库armadillo

else()
  message(STATUS "host processor architecture is unknown")
endif()

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

add_executable(${PROJECT_NAME}_node src/app/planning_node.cpp 
${ALL_SRCS}
)

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

catkin_make编译时，终端中将打印当前处理器架构