CMakeList.txt编写例程

本次编写的cpp文件是接受其他功能包发出的消息，处理后发布新的消息。以下是CMakeList.txt和package.xml的编写。

CMakeList.txt：

cmake_minimum_required(VERSION 3.0.2)
project(course_task)


find_package(catkin REQUIRED COMPONENTS
  roscpp
  std_msgs
  message_generation
  swarmtal_msgs#该功能包发出的消息被本功能包的节点订阅
)

generate_messages(
   DEPENDENCIES
   std_msgs
 )
 
catkin_package(
	#  INCLUDE_DIRS include
   #  LIBRARIES course_task
   #  CATKIN_DEPENDS roscpp std_msgs
   #  DEPENDS system_lib
   CATKIN_DEPENDS message_runtime
)

include_directories(
  # include
  ${catkin_INCLUDE_DIRS}
)

set(NODE_NAME "course_task") #节点名称
add_executable(${NODE_NAME} src/course_task.cpp)

add_dependencies(${NODE_NAME} ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)

 target_link_libraries(${NODE_NAME}
   ${catkin_LIBRARIES}
 )

package.xml：

在package.xml中加入以下部分：

  <build_depend>message_generation</build_depend>
  <exec_depend>message_runtime</exec_depend>
  <build_depend>swarmtal_msgs</build_depend>#swarmtal_msgs功能包发出的消息被本功能包的节点订阅
  <exec_depend>swarmtal_msgs</exec_depend>