catkin_make install 使用解析

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已于 2023-08-03 15:55:05 修改

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于 2023-07-10 18:37:45 首次发布

本文链接：https://blog.youkuaiyun.com/X_simple/article/details/131645395

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该文描述了一个CMake配置文件，用于管理C++11项目，使用catkin宏和Boost库。根据CPU架构（x86_64或aarch64）设置第三方库的头文件和库路径，并在构建过程中链接这些库。此外，文章还详细说明了如何安装和组织项目的头文件、库文件以及共享资源。

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cmake_minimum_required(VERSION 2.8.3)
project(project_name)

## Use C++11
# add_definitions(-std=c++11 -Wall)
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -O3")
set(CMAKE_CXX_FLAGS  "${CMAKE_CXX_FLAGS} -Wall -std=c++11 -O3 -lpthread")

## Find catkin macros and libraries
find_package(catkin REQUIRED
  COMPONENTS
    message_generation
    roscpp
    sensor_msgs
    std_msgs
)



## Find system libraries
#find_package(Eigen3 REQUIRED)
find_package(Boost REQUIRED COMPONENTS system thread)


# add_message_files(
#   FILES
#   test.msg
# )

# add_service_files(
#   FILES
#   test.srv
# )

# generate_messages(
#   DEPENDENCIES
#   sensor_msgs
#   std_msgs
# )

catkin_package(
  INCLUDE_DIRS
    include
  LIBRARIES
    ${PROJECT_NAME}_core
  CATKIN_DEPENDS
    roscpp
    sensor_msgs
    std_msgs
  DEPENDS
    Boost
)



###########
## Build ##
###########


## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
  include
  ${catkin_INCLUDE_DIRS}
  ${Boost_INCLUDE_DIRS}
)

message("-- check cpu frame: ${CMAKE_HOST_SYSTEM_PROCESSOR}")

if(CMAKE_HOST_SYSTEM_PROCESSOR MATCHES "x86_64" )
  message("x86_64-- Current cpu frame: ${CMAKE_HOST_SYSTEM_PROCESSOR}")
  include_directories(${PROJECT_SOURCE_DIR}/../third_party/2_x86_all/include)
  link_directories(${PROJECT_SOURCE_DIR}/../third_party/2_x86_all/lib)
  set(THIRD_PARTY_HEADERS ${PROJECT_SOURCE_DIR}/../third_party/2_x86_all/)
  set(THIRD_PARTY_LIBS ${PROJECT_SOURCE_DIR}/../third_party/2_x86_all/lib/)
else(CMAKE_HOST_SYSTEM_PROCESSOR MATCHES "aarch64")
  message("aarch64-- Current cpu frame: ${CMAKE_HOST_SYSTEM_PROCESSOR}")
  include_directories(${PROJECT_SOURCE_DIR}/../third_party/1_arm_all/include)
  link_directories(${PROJECT_SOURCE_DIR}/../third_party/1_arm_all/lib)
  set(THIRD_PARTY_HEADERS ${PROJECT_SOURCE_DIR}/../third_party/1_arm_all/)
  set(THIRD_PARTY_LIBS ${PROJECT_SOURCE_DIR}/../third_party/1_arm_all/lib/)
endif()


## Declare a cpp library
add_library(${PROJECT_NAME}_core
  src/test.cpp
)


## Declare cpp executables
add_executable(${PROJECT_NAME}_node
  src/${PROJECT_NAME}_node.cpp
  src/test_ros.cpp
)


## Add dependencies to exported targets, like ROS msgs or srvs
add_dependencies(${PROJECT_NAME}_core
  ${${PROJECT_NAME}_EXPORTED_TARGETS}
  ${catkin_EXPORTED_TARGETS}
)

add_dependencies(${PROJECT_NAME}_node
  ${${PROJECT_NAME}_EXPORTED_TARGETS}
  ${catkin_EXPORTED_TARGETS}
)

## Specify libraries to link executable targets against
target_link_libraries(${PROJECT_NAME}_core
  ${catkin_LIBRARIES}
  ${Boost_LIBRARIES}
  glog
  gflags
)

target_link_libraries(${PROJECT_NAME}_node
  ${PROJECT_NAME}_core
  ${catkin_LIBRARIES}
  ${Boost_LIBRARIES}
  -lrt
)


#############
## Install ##
#############

# Mark executables and/or libraries for installation

install(
  TARGETS ${PROJECT_NAME}_core
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

install(
  TARGETS ${PROJECT_NAME}_node
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

# 安装项目结点头文件 可以指定目录include或其他
# file(GLOB_RECURSE ALL_LIBRARY_HDRS "include/*.h")
# set(INSTALL_SOURCE_HDRS ${ALL_LIBRARY_HDRS})
# foreach(HDR ${INSTALL_SOURCE_HDRS})
#   file(RELATIVE_PATH REL_FIL ${PROJECT_SOURCE_DIR}/include ${HDR})
#   get_filename_component(DIR ${REL_FIL} DIRECTORY)
#   install(
#     FILES ${HDR}
#     DESTINATION include/${PROJECT_NAME}/${DIR}
#   )
# endforeach()

# 安装第三方库头文件
install(DIRECTORY ${THIRD_PARTY_HEADERS}
        DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}/../third_party/
        FILES_MATCHING PATTERN "*.h")

# 安装第三方库库文件
install(DIRECTORY ${THIRD_PARTY_LIBS}
        DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})

# Mark cpp header files for installation  
# 自动搜索统计目录下./inclue/下的*.h文件并安装至install/include/
install(
  DIRECTORY include/${PROJECT_NAME}/
  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
  FILES_MATCHING PATTERN "*.h"
)

# Mark other files for installation
install(
  DIRECTORY  launch
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)

1.1、设置第三方库路径变量

set(THIRD_PARTY_HEADERS ${PROJECT_SOURCE_DIR}/../third_party/1_arm_all/)
set(THIRD_PARTY_LIBS ${PROJECT_SOURCE_DIR}/../third_party/1_arm_all/lib/)

1.2、安装第三方库文件到install指定目录下

# 安装第三方库头文件只搜索路径下 *.h文件复制到 install/include/third_party/ 目录下
install(DIRECTORY ${THIRD_PARTY_HEADERS}
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}/../third_party/
FILES_MATCHING PATTERN "*.h")

# 安装第三方库库文件 *.so *.a 到 install/lib/目录下
install(DIRECTORY ${THIRD_PARTY_LIBS}
DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})

2、安装一些共享文件或配置到 install/share/

# Mark other files for installation
install(
DIRECTORY launch
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)