CMakeList.txt的简介

声明:摘自MOOC 机器人操作系统入门 ros-tutorial-icourse163

Table of Contents

1.catin的特点

2.catkin编译的工作原理:

3.CMakelist.txt整体结构

4.action_demo 的CMakeLists.txt实例

cmake是编译工具,catkin是rOS的编译系统.

1.catin的特点

一个Catkin的软件包（ package）必须要包括两个文件：

package.xml: 包括了package的描述信息

name, description, version, maintainer(s), license
opt. authors, url's, dependencies, plugins, etc...

CMakeLists.txt: 构建package所需的CMake文件

调用Catkin的函数/宏
解析 package.xml
找到其他依赖的catkin软件包
将本软件包添加到环境变量

2.catkin编译的工作原理:

catkin编译的工作流程如下：

     1. 首先在工作空间 catkin_ws/src/ 下递归的查找其中每一个ROS的package。
     2. package中会有 package.xml 和 CMakeLists.txt 文件， Catkin(CMake)编译系统依
         据 CMakeLists.txt 文件,从而生成 makefiles (放在 catkin_ws/build/ )。
     3. 然后 make 刚刚生成的 makefiles 等文件， 编译链接生成可执行文件(放在 catkin_ws/devel )。

也就是说， Catkin就是将 cmake 与 make 指令做了一个封装从而完成整个编译过程的工具。
catkin有比较突出的优点，主要是：

操作更加简单
一次配置，多次使用
跨依赖项目编译

3.CMakelist.txt整体结构

cmake_minimum_required() #CMake的版本号
project() #项目名称
find_package() #找到编译需要的其他CMake/Catkin package
catkin_python_setup() #catkin新加宏， 打开catkin的Python Module的支持
add_message_files() #catkin新加宏， 添加自定义Message/Service/Action文件
add_service_files()
add_action_files()
generate_message() #catkin新加宏， 生成不同语言版本的msg/srv/action接口
catkin_package() #catkin新加宏， 生成当前package的cmake配置， 供依赖本包的其他软件包调用
add_library() #生成库
add_executable() #生成可执行二进制文件
add_dependencies() #定义目标文件依赖于其他目标文件， 确保其他目标已被构建
target_link_libraries() #链接
catkin_add_gtest() #catkin新加宏， 生成测试
install() #安装至本机

4.action_demo 的CMakeLists.txt实例

cmake_minimum_required(VERSION 2.8.3)
project(action_lin)

## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  actionlib
  actionlib_msgs
  roscpp
  message_generation
  genmsg 
)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)


## 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() 找到编译需要的其他CMake/Catkin package
#cmake宏， 指定依赖的其他pacakge， 实际是生成了一些环境变量， 如<NAME>_FOUND, <NAME>_INCLUDE_DIRS
## , <NAME>_LIBRARYIS
#此处catkin是必备依赖 其余的genmsg...为组件
find_package(catkin REQUIRED COMPONENTS
  roscpp
  message_generation
  genmsg 
  actionlib_msgs
  actionlib
)
##   * 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  DoDishes.action
)

## Generate added messages and services with any dependencies listed here
##用于生成action头文件/module,生成的文件位于devel/include当中
generate_messages(DEPENDENCIES
  actionlib_msgs
  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 ##
#catkin新加宏， 生成当前package的cmake配置， 供依赖本包的其他软件包调用
# catkin宏命令， 用于配置ROS的package配置文件和CMake文件
# 这个命令必须在add_library()或者add_executable()之前调用， 该函数有5个可选参数：
## 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
#- 该项目依赖的其他catkin项目
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
  CATKIN_DEPENDS
  message_runtime
#  INCLUDE_DIRS include
#  LIBRARIES action_lin
#  CATKIN_DEPENDS other_catkin_pkg
#  DEPENDS system_lib
)

###########
## Build ##
###########
##指定C++的头文件路径
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
  include ${catkin_INCLUDE_DIRS}
# include
# ${catkin_INCLUDE_DIRS}
)

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

## 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
# 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
# add_executable(${PROJECT_NAME}_node src/action_lin_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})

## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
#   ${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
# install(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables and/or libraries for installation
# 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
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

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

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

# add_executable() #生成可执行二进制文件
# add_dependencies() #定义目标文件依赖于其他目标文件， 确保其他目标已被构建
# target_link_libraries() #链接可执行文件

add_executable(dodishes_clien_lin2
  src/dodishes_client_lin2.cpp
)
add_dependencies(dodishes_clien_lin2 ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(dodishes_clien_lin2
  ${catkin_LIBRARIES}
)

add_executable(dodishes_server_lin2
  src/dodishes_server_lin2.cpp
)
add_dependencies(dodishes_server_lin2 ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(dodishes_server_lin2
  ${catkin_LIBRARIES}
)

1.catin的特点

2.catkin编译的工作原理:

3.CMakelist.txt整体结构

4.action_demo 的CMakeLists.txt实例

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