ros机器人系统和c语言关系,在qtcreator上进行ros机器人操作系统编程，并且配置CMakeLists.txt包含opencv2和aruco增强现实库...-CSDN博客

cmake_minimum_required(VERSION 2.8.3)

project(opencv_text)

## Find catkin macros and libraries

## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)

## is used, also find other catkin packages

find_package(catkinREQUIREDCOMPONENTS

cv_bridge

image_transport

roscpp

rospy

sensor_msgs

std_msgs

)

set(ARUCO_PATH /usr/local)

SET(CMAKE_MODULE_PATH ${ARUCO_PATH}/lib/cmake )

SET(ARUCO_INCLUDE_DIRS ${ARUCO_PATH}/include/aruco )

find_package(OpenCV REQUIRED)

find_package(arucoREQUIRED)

INCLUDE(FindPkgConfig)

set(ROS_BUILD_TYPE Debug)

## 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 run_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 run_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

# Message1.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

# sensor_msgs# 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 run_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 you 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 opencv_text

# CATKIN_DEPENDS cv_bridge image_transport roscpp rospy sensor_msgs std_msgs tf

# DEPENDS system_lib

)

###########

## Build ##

###########

## Specify additional locations of header files

## Your package locations should be listed before other locations

# include_directories(include)

include_directories(

${catkin_INCLUDE_DIRS}

)

## Declare a C++ library

# add_library(opencv_text

# src/${PROJECT_NAME}/opencv_text.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(opencv_text ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable

# add_executable(opencv_text_node src/opencv_text_node.cpp)

## Add cmake target dependencies of the executable

## same as for the library above

# add_dependencies(opencv_text_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against

# target_link_libraries(opencv_text_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 opencv_text opencv_text_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_opencv_text.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)

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

add_executable(aruco_marker src/aruco_marker.cpp)

target_link_libraries(aruco_marker ${catkin_LIBRARIES} ${OpenCV_LIBRARIES} ${aruco_LIBS})