ROS功能包中cmakelist.txt文件

参考：http://wiki.ros.org/catkin/CMakeLists.txt
https://answers.ros.org/question/58498/what-is-the-purpose-of-catkin_depends/

1.简介

文件CMakeLists.txt是CMake构建系统的输入，用于构建软件包。 任何兼容CMake的软件包都包含一个或多个CMakeLists.txt文件，这些文件描述了如何构建代码以及将代码安装到何处

Required CMake Version (cmake_minimum_required()) 
Package Name (project()) 
Find other CMake/Catkin packages needed for build (find_package()) 
Enable Python module support (catkin_python_setup()) 
Message/Service/Action Generators (add_message_files(), add_service_files(), add_action_files()) 
Invoke message/service/action generation (generate_messages())
Specify package build info export (catkin_package()) 
Libraries/Executables to build (add_library()/add_executable()/target_link_libraries()) 
Tests to build (catkin_add_gtest()) 
Install rules (install()) 

2.内容

cmake版本至少2.8.3及以上

cmake_minimum_required(VERSION 2.8.3)

项目名称

project(package_name)

在cmake脚本中可以用${PROJECT_NAME} 变量代替项目名

查找依赖的CMake软件包
我们需要使用 find_package函数来指定需要找到哪些其他CMake软件包来构建我们的项目

find_package(catkin REQUIRED)
find_package(nodelet REQUIRED)

也可以等价写成组件的形式如下：

find_package(catkin REQUIRED COMPONENTS nodelet)

如果CMake通过find_package找到了一个包，它将导致创建多个CMake环境变量，这些变量提供有关找到的包的信息。 环境变量可以稍后在CMake脚本中使用。 环境变量描述了软件包导出的头文件在哪里，源文件在哪里，软件包所依赖的库以及这些库的路径。 名称始终遵循<PACKAGE NAME> _ <PROPERTY>的约定。

添加消息、服务、动作
结构

 find_package(catkin REQUIRED COMPONENTS ...)
 add_message_files(...)
 add_service_files(...)
 add_action_files(...)
 generate_messages(...)
 catkin_package(...)
 ...

catkin_package() macro must have a CATKIN_DEPENDS dependency on message_runtime.

 catkin_package(
 ...
 CATKIN_DEPENDS message_runtime ...
 ...)

must use find_package() for the package message_generation, either alone or as a component of catkin:

 find_package(catkin REQUIRED COMPONENTS message_generation)

catkin_package() 是catkin提供的CMake宏。 向构建系统指定特定于catkin的信息所必需的，该信息又用于生成pkg-config和CMake文件。
在使用add_library()或add_executable()声明任何目标之前，必须先调用此函数。 该函数具有5个可选参数：
INCLUDE_DIRS - The exported include paths (i.e. cflags) for the package
LIBRARIES - The exported libraries from the project
CATKIN_DEPENDS - Other catkin projects that this project depends on
DEPENDS - Non-catkin CMake projects that this project depends on. For a better understanding, see this explanation.
CFG_EXTRAS - Additional configuration options

Include Paths - Where can header files be found for the code (most common in C/C++) being built

include_directories(<dir1>, <dir2>, ..., <dirN>)
link_directories(<dir1>, <dir2>, ..., <dirN>)

include_directories的参数应该是find_package调用生成的* _INCLUDE_DIRS变量以及需要包含的所有其他目录。 如果您使用的是catkin和Boost，则include_directories（）调用应如下所示：

include_directories(include ${Boost_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})

第一个参数“ include”表示包中的include目录也是路径的一部分。

Library Paths - Where are libraries located that executable target build against?
link_directories()函数可用于添加其他库路径，但是不建议这样做。 当所有catkin和CMake软件包被find_packaged时，将自动添加其链接信息。 只需链接到target_link_libraries()中的库。

想用一个第三方库curl如下

find_package(CURL REQUIRED)
include_directories(${CURL_INCLUDE_DIR})
target_link_libraries(curltest ${CURL_LIBRARY})

Executable Targets 指定可执行文件

add_executable(myProgram src/main.cpp src/some_file.cpp src/another_file.cpp)

这将构建一个名为myProgram的目标可执行文件，该文件由3个源文件构建：src / main.cpp，src / some_file.cpp和src / another_file.cpp。

Library Targets 指定要构建的库

add_library(${PROJECT_NAME} ${${PROJECT_NAME}_SRCS})

target_link_libraries 使用target_link_libraries()函数来指定可执行目标链接到的库。 通常在add_executable()调用之后完成此操作。

target_link_libraries(<executableTargetName>, <lib1>, <lib2>, ... <libN>)

例：

add_executable(foo src/foo.cpp)
add_library(moo src/moo.cpp)
target_link_libraries(foo moo)

在大多数情况下，无需使用link_directories()，因为该信息是通过find_package()自动提取的。

例：

   1   # Get the information about this package's buildtime dependencies
   2   find_package(catkin REQUIRED
   3     COMPONENTS message_generation std_msgs sensor_msgs)
   4 
   5   # Declare the message files to be built
   6   add_message_files(FILES
   7     MyMessage1.msg
   8     MyMessage2.msg
   9   )
  10 
  11   # Declare the service files to be built
  12   add_service_files(FILES
  13     MyService.srv
  14   )
  15 
  16   # Actually generate the language-specific message and service files
  17   generate_messages(DEPENDENCIES std_msgs sensor_msgs)
  18 
  19   # Declare that this catkin package's runtime dependencies
  20   catkin_package(
  21    CATKIN_DEPENDS message_runtime std_msgs sensor_msgs
  22   )
  23 
  24   # define executable using MyMessage1 etc.
  25   add_executable(message_program src/main.cpp)
  26   add_dependencies(message_program ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
  27 
  28   # define executable not using any messages/services provided by this package
  29   add_executable(does_not_use_local_messages_program src/main.cpp)
  30   add_dependencies(does_not_use_local_messages_program ${catkin_EXPORTED_TARGETS})