ROS-CmakeLists,package

CmakeLists

---
find_package(catkin REQUIRED  //用到的基本头文件包，添加到此处
roscpp
std_msgs
message_generation
tf
)---
add_message_files(//编写的msg文件FILESstudent.msg
#   Message1.msg
#   Message2.msg
)## Generate services in the 'srv' folder
add_service_files(//编写的srv文件FILESAddTwoInts.srv# 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( //注释解开DEPENDENCIESstd_msgs  # Or other packages containing msgs
)## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )
---
catkin_package(  //msg第三行解开
#  INCLUDE_DIRS include
#  LIBRARIES bingda_practicesCATKIN_DEPENDS message_runtime
#  DEPENDS system_lib
)---
include_directories(
include
${catkin_INCLUDE_DIRS}
)----
add_executable(talker src/talker.cpp)  //生成可执行文件
add_executable(listener src/listener.cpp)
target_link_libraries(talker ${catkin_LIBRARIES})  //与库添加连接
target_link_libraries(listener ${catkin_LIBRARIES})add_executable(msg_pub src/msg_pub.cpp)
target_link_libraries(msg_pub ${catkin_LIBRARIES})
add_dependencies(msg_pub bingda_practices_generate_messages_cpp) //添加依赖项，自己编写msg,srv等时要加add_executable(add_two_ints_client src/add_two_ints_client.cpp)
target_link_libraries(add_two_ints_client ${catkin_LIBRARIES})
add_dependencies(add_two_ints_client bingda_practices_generate_messages_cpp)add_executable(add_two_ints_server src/add_two_ints_server.cpp)
target_link_libraries(add_two_ints_server ${catkin_LIBRARIES})
add_dependencies(add_two_ints_server bingda_practices_generate_messages_cpp)add_executable(tf_transform src/tf_transform.cpp)
target_link_libraries(tf_transform ${catkin_LIBRARIES})

package.xml

---<buildtool_depend>catkin</buildtool_depend><build_depend>message_runtime</build_depend><build_export_depend>message_runtime</build_export_depend><build_depend>tf</build_depend>//添加功能包依赖<build_export_depend>tf</build_export_depend>
---

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