1.过程
1、Required CMake Version (cmake_minimum_required) //CMake 需要的版本 2、Package Name (project()) //#定义工程名称 3、Find other CMake/Catkin packages needed for build (find_package()) //寻找需要用到的其他 CMake packages 4、Message/Service/Action Generators (add_message_files(), add_service_files(), add_action_files()) 5、Invoke message/service/action generation (generate_messages()) 6、Specify package build info export (catkin_package())//catkin 支持的 CMake 宏指令。用来向编译系统指明 catkin-specific 的信息，而编译系统来生成 pkg-config and CMake files。 7、Libraries/Executables to build (add_library()/add_executable()/target_link_libraries()) 8、Tests to build (catkin_add_gtest()) 9、Install rules (install())
2.示例
amcl_node.cpp的cmakelists.txt
cmake_minimum_required(VERSION 3.1)//Catkin 需要版本 3.1或者更高 project(amcl) //定义工程名称 if(NOT CMAKE_CXX_STANDARD) //设置编译环境 set(CMAKE_CXX_STANDARD 11) endif() find_package(catkin REQUIRED//寻找需要用到的其他 CMake packages COMPONENTS dynamic_reconfigure geometry_msgs message_filters nav_msgs rosbag roscpp sensor_msgs std_srvs tf2 tf2_geometry_msgs tf2_msgs tf2_ros ) find_package(Boost REQUIRED) # dynamic reconfigure generate_dynamic_reconfigure_options( cfg/AMCL.cfg ) catkin_package(//向编译系统指明 catkin-specific 的信息 CATKIN_DEPENDS dynamic_reconfigure geometry_msgs nav_msgs rosbag roscpp sensor_msgs std_srvs tf2 tf2_msgs tf2_ros INCLUDE_DIRS include LIBRARIES amcl_sensors amcl_map amcl_pf ) include_directories(include)//变量为 find_package 路径和其他需要包含的路径 include_directories(${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS}) add_library(amcl_pf//添加默认共享库 src/amcl/pf/pf.c src/amcl/pf/pf_kdtree.c src/amcl/pf/pf_pdf.c src/amcl/pf/pf_vector.c src/amcl/pf/eig3.c src/amcl/pf/pf_draw.c) add_library(amcl_map src/amcl/map/map.c src/amcl/map/map_cspace.cpp src/amcl/map/map_range.c src/amcl/map/map_store.c src/amcl/map/map_draw.c) add_library(amcl_sensors src/amcl/sensors/amcl_sensor.cpp src/amcl/sensors/amcl_odom.cpp src/amcl/sensors/amcl_laser.cpp) target_link_libraries(amcl_sensors amcl_map amcl_pf)//表示前面的库依赖后面的库 add_executable(amcl src/amcl_node.cpp) add_dependencies(amcl ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) target_link_libraries(amcl amcl_sensors amcl_map amcl_pf ${Boost_LIBRARIES} ${catkin_LIBRARIES} ) install( TARGETS//生成Makefile中的install target，把这些对应文件拷贝到目标目录下 amcl amcl_sensors amcl_map amcl_pf ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) install(DIRECTORY include/amcl/ DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} ) install(DIRECTORY examples/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/examples ) ## Configure Tests if(CATKIN_ENABLE_TESTING) find_package(rostest REQUIRED) # Bags catkin_download_test_data(${PROJECT_NAME}_basic_localization_stage_indexed.bag http://download.ros.org/data/amcl/basic_localization_stage_indexed.bag DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test MD5 41fe43af189ec71e5e48eb9ed661a655) catkin_download_test_data(${PROJECT_NAME}_global_localization_stage_indexed.bag http://download.ros.org/data/amcl/global_localization_stage_indexed.bag DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test MD5 752f711cf4f6e8d1d660675e2da096b0) //下载文件 catkin_download_test_data(${PROJECT_NAME}_small_loop_prf_indexed.bag http://download.ros.org/data/amcl/small_loop_prf_indexed.bag DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test MD5 e4ef0fc006872b43f12ed8a7ce7dcd81) catkin_download_test_data(${PROJECT_NAME}_small_loop_crazy_driving_prg_indexed.bag http://download.ros.org/data/amcl/small_loop_crazy_driving_prg_indexed.bag DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test MD5 4a58d1a7962914009d99000d06e5939c) catkin_download_test_data(${PROJECT_NAME}_texas_greenroom_loop_indexed.bag http://download.ros.org/data/amcl/texas_greenroom_loop_indexed.bag DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test MD5 6e3432115cccdca1247f6c807038e13d) catkin_download_test_data(${PROJECT_NAME}_texas_willow_hallway_loop_indexed.bag http://download.ros.org/data/amcl/texas_willow_hallway_loop_indexed.bag DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test MD5 27deb742fdcd3af44cf446f39f2688a8) catkin_download_test_data(${PROJECT_NAME}_rosie_localization_stage.bag http://download.ros.org/data/amcl/rosie_localization_stage.bag DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test MD5 3347bf3835724cfa45e958c5c1846066) # Maps catkin_download_test_data(${PROJECT_NAME}_willow-full.pgm http://download.ros.org/data/amcl/willow-full.pgm DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test MD5 b84465cdbbfe3e2fb9eb4579e0bcaf0e) catkin_download_test_data(${PROJECT_NAME}_willow-full-0.05.pgm http://download.ros.org/data/amcl/willow-full-0.05.pgm DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test MD5 b61694296e08965096c5e78611fd9765) # Tests add_rostest(test/set_initial_pose.xml) add_rostest(test/set_initial_pose_delayed.xml) add_rostest(test/basic_localization_stage.xml) add_rostest(test/small_loop_prf.xml) add_rostest(test/small_loop_crazy_driving_prg.xml) add_rostest(test/texas_greenroom_loop.xml) add_rostest(test/rosie_multilaser.xml) add_rostest(test/texas_willow_hallway_loop.xml) # Not sure when or if this actually passed. # # The point of this is that you start with an even probability # distribution over the whole map and the robot localizes itself after # some number of iterations of sensing and motion. # # add_rostest(test/global_localization_stage.xml) endif()
3.常用语句及语法
3.1 常用指令
cmake_minimum_required(VERSION xxx) #cmake最小版本需求，新版本的cmake改了很多东西，提升了便利性，也可能让你自己挖坑了 project(xxx) #设置此项目的名称 add_executable(target target_source_codes) #生成可执行文件target ，后面填写的是生成此可执行文件所依赖的源文件列表。 SET(var_name var_value)# 设置一个名字var_name 的变量，同时给此变量赋值为var_value MESSAGE("MSG") #类比echo 打印消息 option(var_name "comment" var_value) #给变量var_name赋值为var_value，comment是此变量的注释，和SET 有类似的功效，用于给某变量设置默认值 include_directories(xxx) #添加include路径，也就是 gcc -I xxx 的意思，或者vs ide中添加头文件包含目录 add_subdirectory(xxx) #调用xxx子目录的CMakeLists.txt执行 add_compile_options(xxx) #给编译器添加xxx参数，但是貌似没有什么用，我一般不这样添加参数，不直接 link_directories(xxx) #给编译器添加库目录，也就是 gcc -L xxx 的意思，或者vs ide中添加库的包含目录 add_library(lib_name SHARED or STATIC lib_source_code) #和add_executable类似，生成库文件，SHARED代表动态库，STATIC代表静态库， 最后一个参数代表此库的源文件列表，此指令只有三个参数 target_link_libraries(target_name lib_name ...) #给目标添加依赖库，类似与gcc -l lib_name，此指令有两个用处，一个是给可执行target_name 添加库依赖，二是给库target_name 添加库依赖。
3.2 install 指令（主要是生成Makefile中的install target）
install(FILES flie DESTINATION dir_path) #执行make install时，把file拷贝到dir_path install(PROGRAMS file DESTINATION dir_path) #执行make install时，把file拷贝到dir_path,并给予file可执行权限 INSTALL(TARGETS ylib ylib_s #RUNTIME DESTINATION xxx LIBRARY DESTINATION lib ARCHIVE DESTINATION lib )# 安装libylib.so到lib目录，安装libylib_s.a到lib目录，RUNTIME 是安装可执行文件到xxx目录
注意：
INSTALL(TARGETS ylib ylib_s #RUNTIME DESTINATION xxx LIBRARY DESTINATION lib ARCHIVE DESTINATION lib ) #对于RUNTIME 和 LIBRARY 两种目标，在安装时候，cmake会默认给你移除掉目标文件中的gcc的Wl,rpath的值，导致某些库找不到的错误。 以下变量会影响此坑，更详细的信息去查查别的资料，我这里就不详细说明了。 #set(CMAKE_SKIP_BUILD_RPATH FALSE) #set(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE) #set(CMAKE_INSTALL_RPATH "") #set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE) #set(CMAKE_SKIP_INSTALL_RPATH TRUE) #set(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib") #set(CMAKE_SKIP_RPATH TRUE) #set(CMAKE_SKIP_INSTALL_RPATH TRUE)
3.3 config指令
configure_file(fileA fileB @ONLY) #把fileA 复制并重命名为fileB,此时，fileA中的@var@的值会被替换为cmakelists.txt 中var的值。@ONLY是只转换@va@这种变量
3.4 常用的内置变量
CMAKE_INSTALL_PREFIX #make install 的安装路径 CMAKE_BUILD_TYPE #生成的目标为debug或者release CMAKE_C_FLAGS #gcc 的编译参数指定，这个非常好用，一般通过set 修改其值 CMAKE_CXX_FLAGS #g++ 和上面CMAKE_C_FLAGS 类似 CMAKE_CURRENT_SOURCE_DIR # 当前CMakeLists.txt所在的目录，主要用来定位某文件 CMAKE_CURRENT_BINARY_DIR # 当前CMakeLists.txt对应的编译时的目录
第三部分参考：
作者：Iflyinsky2013
来源：CSDN
原文：https://blog.csdn.net/u011728480/article/details/81480668