CMake : 创建ROS package后，修改CMakeLists.txt与package.xml文件

提示：文章写完后，目录可以自动生成，如何生成可参考右边的帮助文档

---

前言

创建ROS package后，需要按照项目实际需求，对应修改CMakeLists.txt里的代码，实现编译，本文将记录几点修改意见，以供参考。

---

提示：以下是本篇文章正文内容，下面案例可供参考

一、创建工作空间及package

代码如下（示例）：

mkdir - p fengsc_ws/src
cd fengsc/src
source /opt/ros/kinetic/setup.sh
# 初始化工作空间
catkin_init_workspace
# 创建 ROS package: example_test，依赖项根据需要添加
catkin_create pkg example_test rocpp rospy std_msgs ...

cd ..
catkin_make	# 编译无误，完成

package 创建完成，在 package 里面会出现 CMakeLists.txt 和 package.xml.

二、 修改CMakeLists.txt

完整CMakeLists

代码如下（示例）：

# 需要的CMake最小版本，可在自己终端中输入 < cmake --version > 查看本地版本
cmake_minimum_required(VERSION 3.0.2)
# 项目/工程名，后续可使用${PROJECT_NAME}，即example_test
project(example_test)

# OLD策略，Error on non-existent dependency in add_dependencies.
cmake_policy(SET CMP0046 OLD)

## Compile as C++11, supported in ROS Kinetic and newer
# 使用C++11标准
add_compile_options(-std=c++11)
# 使用C++编译器
set(CMAKE_CXX_FLAGS_DEBUG "-Wall -Werror")

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
# 加入项目中要用到的库，加载头文件
find_package(
  catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs	
  tf
)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
# 设置用到的opencv库路径
set(OpenCV_DIR /usr/local/share/OpenCV)
# 寻找opencv库，加载头文件
find_package(OpenCV CONFIG REQUIRED)
# 寻找realsense2库，加载头文件
find_package(realsense2 REQUIRED)

## 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
# )

################################################
## 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
# 为 catkin 提供构建、生成 pkg-config 和 CMake 文件所需要的信息，包含该 package 声明的 include 路径和库
catkin_package(
  INCLUDE_DIRS include
  LIBRARIES example_test
  DEPENDS OpenCV
  CATKIN_DEPENDS roscpp rospy  std_msgs   
#  DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
# include 头文件路径
include_directories(
  include
  include/example_test
  include/node
  ${catkin_INCLUDE_DIRS}
  ${OpenCV_INCLUDE_DIRS}
  ${realsense2_INCLUDE_DIRS}
)

## Declare a C++ library
add_library(${PROJECT_NAME}
  src/***.cc
  src/***.cc
  src/***.cc
)

## 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
# 先添加 ${PROJECT_NAME} 依赖库，避免链接失败
add_dependencies(${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
# 添加可执行文件
add_executable(${PROJECT_NAME}_node src/example_test_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
# 添加 ${PROJECT_NAME}_node 依赖库
add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
# 链接库
target_link_libraries(${PROJECT_NAME}_node
  ${OpenCV_LIBS}
  ${PROJECT_NAME}
  ${catkin_LIBRARIES}
  ${realsense2_LIBRARY} 
   -lpthread 
   -lm
)
target_link_libraries(${PROJECT_NAME} ${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
# catkin_install_python(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
# 要安装的库
install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_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
# 要安装的头文件
install(DIRECTORY include/${PROJECT_NAME}/
  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
  FILES_MATCHING PATTERN "*.h"
  PATTERN ".git" EXCLUDE
)

## Mark other files for installation (e.g. launch and bag files, etc.)
# launch 文件
install(FILES
  launch/example_test.launch
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
)

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_container_localizer.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)

部分解释

REQUIRED

其中，在find_package选项中某package后面加REQUIRED的作用是告诉cmake，该package是必需的，如果找不到就会报错，如：

find_package(PCL REQUIRED)

COMPONENTS

如果只需要其中某个或某些组件，可以使用COMPONENTS，如：

find_package(PCL REQUIRED COMPONENTS io)
find_package(PCL REQUIRED COMPONENTS io common)

变量

XXX_FOUND: 在find_package中找到XXX包后为1，否则为0；

XXX_INCLUDE_DIRS: XXX头文件及其依赖的头文件路径

XXX_LIBRARIES:XXX库名

XXX_LIBRARY_DIRS: XXX库或依赖的第三方库路径

XXX_VERSION: XXX的版本

XXX_COMPONENTS: 包含所有组件列表

可用${ }取值。

三、修改 package.xml

添加需要的依赖

代码如下（示例）：

<?xml version="1.0"?>
<package format="2">
  <name>example_test</name>
  <version>1.0.0</version>
  <description>The example_test package</description>

  <!-- One maintainer tag required, multiple allowed, one person per tag -->
  <!-- Example:  -->
  <!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
  <maintainer email="[email protected]">fengsc</maintainer>


  <!-- One license tag required, multiple allowed, one license per tag -->
  <!-- Commonly used license strings: -->
  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
  <license>TODO</license>


  <!-- Url tags are optional, but multiple are allowed, one per tag -->
  <!-- Optional attribute type can be: website, bugtracker, or repository -->
  <!-- Example: -->
  <!-- <url type="website">http://wiki.ros.org/cotek_visual</url> -->


  <!-- Author tags are optional, multiple are allowed, one per tag -->
  <!-- Authors do not have to be maintainers, but could be -->
  <!-- Example: -->
  <!-- <author email="[email protected]">Jane Doe</author> -->


  <!-- The *depend tags are used to specify dependencies -->
  <!-- Dependencies can be catkin packages or system dependencies -->
  <!-- Examples: -->
  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
  <!--   <depend>roscpp</depend> -->
  <!--   Note that this is equivalent to the following: -->
  <!--   <build_depend>roscpp</build_depend> -->
  <!--   <exec_depend>roscpp</exec_depend> -->
  <!-- Use build_depend for packages you need at compile time: -->
  <!--   <build_depend>message_generation</build_depend> -->
  <!-- Use build_export_depend for packages you need in order to build against this package: -->
  <!--   <build_export_depend>message_generation</build_export_depend> -->
  <!-- Use buildtool_depend for build tool packages: -->
  <!--   <buildtool_depend>catkin</buildtool_depend> -->
  <!-- Use exec_depend for packages you need at runtime: -->
  <!--   <exec_depend>message_runtime</exec_depend> -->
  <!-- Use test_depend for packages you need only for testing: -->
  <!--   <test_depend>gtest</test_depend> -->
  <!-- Use doc_depend for packages you need only for building documentation: -->
  <!--   <doc_depend>doxygen</doc_depend> -->
  <buildtool_depend>catkin</buildtool_depend>
  <build_depend>roscpp</build_depend>
  <build_depend>rospy</build_depend>
  <build_depend>std_msgs</build_depend>
  <build_depend>tf</build_depend>


  <build_export_depend>roscpp</build_export_depend>
  <build_export_depend>rospy</build_export_depend>
  <build_export_depend>std_msgs</build_export_depend>
  <build_export_depend>tf</build_export_depend>

  <exec_depend>roscpp</exec_depend>
  <exec_depend>rospy</exec_depend>
  <exec_depend>std_msgs</exec_depend>
  <exec_depend>tf</exec_depend>


  <!-- The export tag contains other, unspecified, tags -->
  <export>
    <!-- Other tools can request additional information be placed here -->

  </export>
</package>

---

总结

主要提供一种示例，本项目用到OpenCV，realsense，std_msgs，tf库等，对应修改CMakeLists.txt与package.xml文件，实现工程编译