有没有觉得用g++
编译节点无比的麻烦,的确是这样子,为此先行者们发明了一个叫做make的批处理工具,我们可以将g++的指令写成脚本,就可以通过make自动的调用脚本完成操作。
1.安装make
sudo apt install make
2.编写Makefile
在d2lros2/d2lros2/chapt2/basic
下新建Makefile
,然后将上面的g++编译指令用下面的形式写到Makefile里。
build:
g++ first_ros2_node.cpp \
-I/opt/ros/humble/include/rclcpp
/ \
-I /opt/ros/humble/include/rcl/ \
-I /opt/ros/humble/include/rcutils
/ \
-I /opt/ros/humble/include/rmw
\
-I /opt/ros/humble/include/rcl_yaml_param_parser
/ \
-I /opt/ros/humble/include/rosidl_runtime_c
\
-I /opt/ros/humble/include/rosidl_typesupport_interface
\
-I /opt/ros/humble/include/rcpputils
\
-I /opt/ros/humble/include/builtin_interfaces
\
-I /opt/ros/humble/include/rosidl_runtime_cpp
\
-I /opt/ros/humble/include/tracetools
\
-I /opt/ros/humble/include/rcl_interfaces
\
-I /opt/ros/humble/include/libstatistics_collector
\
-I /opt/ros/humble/include/statistics_msgs
\
-L /opt/ros/humble/lib/ \
-lrclcpp -lrcutils \
-o first_node
# 顺便小鱼加个clean指令,用来删掉first_node
clean:
rm first_node
3. 编译
在Makefile同级目录输入
make build
可以看到make指令调用了脚本里的build下的指令,对代码进行了编译。同级目录下也产生了first_node可执行文件(绿色代表可执行)。
使用make clean
指令即可删掉first_node
节点。
4.运行测试
./first_node
新开终端
ros2 node list