catkin之cmakefiles.txt格式

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Required CMake Version (cmake_minimum_required)
Package Name (project())
Find other CMake/Catkin packages needed for build (find_package())
Message/Service/Action Generators (add_message_files(), add_service_files(), add_action_files())
Invoke message/service/action generation (generate_messages())
Specify package build info export (catkin_package())
Libraries/Executables to build (add_library()/add_executable()/target_link_libraries())
Tests to build (catkin_add_gtest())
Install rules (install())

版本

cmake_minimun_required(version 2.8.3)

包含项目名

project(beginner_tutorials)

寻找依赖的包

find_package(catkin REQUIRED) 至少依赖catkin（必要的）

以下可选包元素

find_package(catkin REQUIRED COMPONENTS rospy roscpp std_msgs)

上述写法的另一种形式

find_package(catkin REQUIRED)

find_package(rospy REQUIRED)

find_package(roscpp REQUIRED)

find_package(std_msgs REQUIRED)

if you using C++ and Boost:

find_package(Boost REQUIRED COMPONENTS thread)

catkin包是cmake的宏

catkin_package()有五个可选属性

catkin_package(   INCLUDE_DIRS include   LIBRARIES ${PROJECT_NAME}   CATKIN_DEPENDS roscpp nodelet  # 比较重要的一条属性   DEPENDS eigen opencv)

输出目标文件名替换

set_target_properties(rviz_image_view                      PROPERTIES OUTPUT_NAME image_view                      PREFIX "")
从rviz_image_view修改为image_view

设置自己的输出目录

set_target_properties(python_module_library  PROPERTIES LIBRARY_OUTPUT_DIRECTORY ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_PYTHON_DESTINATION})

include_directories()

The argument to include_directories should be the *_INCLUDE_DIRS variables generated by your find_package calls and any additional directories that need to be included. If you are using catkin and Boost,即

catkin_INCLUDE_DIRS Boost_INCLUDE_DIRS

include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})

可执行目标必须建立

add_executable(myProgram src/main.cpp src/some_file.cpp src/another_file.cpp)

项目名 + 源文件

# add_library(${PROJECT_NAME} ${${PROJECT_NAME}_SRCS})

add_library(moo src/moo.cpp)

链接 target_link_libraries（）

语法： target_link_libraries(<executableTargetName>, <lib1>, <lib2>, ... <libN>)

example：

add_executable(foo src/foo.cpp)add_library(moo src/moo.cpp)target_link_libraries(foo moo)  -- This links foo against libmoo.so

for python  参考：http://docs.ros.org/api/catkin/html/howto/format2/installing_python.html

Installing Python Executable Scripts

catkin_install_python(PROGRAMS scripts/myscript  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

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