CLion 创建和编译多个ROS 功能包

版权声明：本文为博主夏日辉的原创文章，未经博主允许不得转载。 https://blog.csdn.net/shanpenghui/article/details/89011336

1. cd <你要创建的工作空间存放的路径>
2. mkdir -p <工作空间文件名>
3. cd <工作空间文件名>
4. mkdir -p src
5. catkin_create_pkg <功能包名字> roscpp rospy std_msgs sensor_msgs(功能包的依赖)
6. cd …
7. catkin_make
   
8. 在功能包文件夹的src目录下面添加功能包对应的源码文件(.cpp 笔者是用C++的)
9. 因为CLion不会自动修改CMakeList.txt文件，添加源码文件之后，需要在CMakeList.txt里面修改内容：

## 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(${PROJECT_NAME}_node src/get_laser_scan_node.cpp)
 add_executable(${PROJECT_NAME}_node src/get_laser_scan_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} ${catkin_EXPORTED_TARGETS})
 add_dependencies(${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
#   ${catkin_LIBRARIES}
# )
 target_link_libraries(${PROJECT_NAME}_node
   ${catkin_LIBRARIES}
 )

基本上是add_executable、add_dependencies和target_link_libraries这三句话，关于他们的作用英文解释的比较清楚了，读者自己阅读一下。

11. 然后在CLion里面编译完成就OK了。