ROS学习笔记17 —— 功能包(package)与元功能包(Metapackage)的使用

1. 功能包package

1）package.xml

format 2：

根标签

```xml
<package format="2">

</package>
```

• 必须标签

  1. <name> ：包名

  2. <version> ：软件包的版本号（必须为3个点分割的证书）

  3. <description> ：包内容的描述

  4. <maintainer> ：负责维护包的开发人员信息

  5. <license> ：发布代码的软件许可证 (e.g. GPL, BSD, ASL)

  <package format="2">
    <name>foo_core</name>
    <version>1.2.4</version>
    <description>
    This package provides foo capability.
    </description>
    <maintainer email="ivana@osrf.org">Ivana Bildbotz</maintainer>
    <license>BSD</license>
  </package>
  

依赖关系

6种依赖关系使用以下集中标签指定：

1. <depend>：指定依赖关系为构建、导出和执行依赖关系，最常用，只需要提及每个ROS包依赖项就行了，比较简单。对于博主这种懒人，就适合使用它！！！
2. <build_depend>：指定构建此功能包所需要的包，仅使用某些特定的依赖关系来构建程序包，而不是在执行时使用，可编译来自依赖包的头文件（尤其CMake中使用find_package()时）
3. <build_export_depend>：指定针对该包构建所需要的功能包（尤其CMake中catkin_package()声明为(CATKIN_)DEPENDS时）
4. <exec_depend>：声明运行程序包时所需的共享库、可执行文件、Python模块、启动脚本和其他文件的依赖关系，指定运行该功能包中代码所需要的功能包（尤其CMake中catkin_package()声明为(CATKIN_)DEPENDS时）
5. <test_depend>：指定单元测试的其他依赖项，他们不应该复制已经提到的任何以来
6. <buildtool_depend>：指定软件包自行构建所需要的构建系统工具，一般是catkin，这也是必须的标签
7. <doc_depend>：指定生成文档所需要的文档工具

<package format="2">
  <name>foo_core</name>
  <version>1.2.4</version>
  <description>
    This package provides foo capability.
  </description>
  <maintainer email="ivana@willowgarage.com">Ivana Bildbotz</maintainer>
  <license>BSD</license>

  <url>http://ros.org/wiki/foo_core</url>
  <author>Ivana Bildbotz</author>

  <buildtool_depend>catkin</buildtool_depend>

  <depend>roscpp</depend>
  <depend>std_msgs</depend>

  <build_depend>message_generation</build_depend>

  <exec_depend>message_runtime</exec_depend>
  <exec_depend>rospy</exec_depend>

  <test_depend>python-mock</test_depend>

  <doc_depend>doxygen</doc_depend>
</package>

format 1（老版本）：

如果<package>标签没有format属性，那么就是format1的包

根标签

<package>

</package>

必需标签：与上相同

<package>
  <name>foo_core</name>
  <version>1.2.4</version>
  <description>
  This package provides foo capability.
  </description>
  <maintainer email="ivana@willowgarage.com">Ivana Bildbotz</maintainer>
  <license>BSD</license>
</package>

依赖关系

• <buildtool_depend>：指定构建工具，一般为catkin

• <build_depend>：指定需要的依赖包

• <run_depend>：指定运行代码时需要的依赖包

• <test_depend>：与format2中相同，不能是已经提到的，必须是仅用于测试的

<package>
  <name>foo_core</name>
  <version>1.2.4</version>
  <description>
    This package provides foo capability.
  </description>
  <maintainer email="ivana@willowgarage.com">Ivana Bildbotz</maintainer>
  <license>BSD</license>

  <url>http://ros.org/wiki/foo_core</url>
  <author>Ivana Bildbotz</author>

  <buildtool_depend>catkin</buildtool_depend>

  <build_depend>message_generation</build_depend>
  <build_depend>roscpp</build_depend>
  <build_depend>std_msgs</build_depend>

  <run_depend>message_runtime</run_depend>
  <run_depend>roscpp</run_depend>
  <run_depend>rospy</run_depend>
  <run_depend>std_msgs</run_depend>

  <test_depend>python-mock</test_depend>
</package>

2）CMakeLists.txt

CMake不知道package.xml依赖关系，尽管catkin 知道。为了编译代码，CMakeLists.txt必须显式声明如何解析所有标头和库引用。

查找库

find_package(catkin REQUIRED COMPONENTS roscpp)

#对于catkin的多个依赖项的情况
find_package(catkin REQUIRED COMPONENTS angles roscpp std_msgs)

注意：必须确保 package.xml 中已经<depend>或者<build_depend>了所需要的依赖包

包含头文件目录

编译之前，需要先收集头文件目录

include_directories(include ${catkin_INCLUDE_DIRS})

include仅当软件包的子目录包含用于编译程序的头文件时，才需要该参数。

导出接口

必须声明导出到其他ROS包的所有接口所需要的库和头文件包

catkin_package(CATKIN_DEPENDS angles roscpp std_msgs)

注意：必须确保 package.xml 中已经<depend>或者<build_depend>了所需要的依赖包

catkin_package()仅被调用一次，需要根据具体情况添加其他参数。

cmake_minimum_required(VERSION 2.8.3)
project(lwr_description)

## 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)

## 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
#   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
#   std_msgs  # Or other packages containing 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 lwr_description
#  CATKIN_DEPENDS other_catkin_pkg
#  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}
)

## Declare a C++ library
# add_library(${PROJECT_NAME}
#   src/${PROJECT_NAME}/lwr_description.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/lwr_description_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 for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_GLOBAL_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_lwr_description.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)

2. 元功能包metapackage

Metapackage：即多个功能包的集合，方便管理

以前实现这个功能的叫stack，现已废弃

CMakeLists.txt

用于声明本软件包Metapackage：

cmake_minimum_required(VERSION 2.8.3)
# 将project中改为自己的包名
project(ros_test_metapackage)
find_package(catkin REQUIRED)

#声明本软件包是一个metapacakge
catkin_metapackage() 

pacakge.xml

附加标签：

• <url> ：有关包装信息的URL，通常是ros.org上的Wiki页面
• <author> ：软件包的作者

用于添加所含功能包，通过将子功能包设置为依赖项实现：

<package>
<!--将ros_test_metapackage改为自己的包名-->
<name>ros_test_metapackage</name>
<version>0.1.1</version>
<description>
--------------------------------------------------------------------------
描述语言
--------------------------------------------------------------------------
</description>
<maintainer email="a@a.com">aaa</maintainer>
<author>aaa</author>
<url>http://http://www.droid.ac.cn</url>
<license>BSD</license>

<buildtool_depend>catkin</buildtool_depend>

<!--注意这里的run_depend标签， 将其他软件
包都设为依赖项-->
<run_depend>package1</run_depend> 
<run_depend>package2</run_depend>
<run_depend>package3</run_depend>

<!--这里需要有export和metapacakge标签， 注意这种固定写法-->
<export> 
	<metapackage/>
</export>

</package>

---

参考文献：

• http://wiki.ros.org/catkin/package.xml#Metapackages
• https://docs.ros.org/melodic/api/catkin/html/howto/format2/catkin_library_dependencies.html
• https://www.dazhuanlan.com/2019/10/04/5d9742594fe6f/
• https://www.cnblogs.com/long5683/p/9941458.html