CMakeLists部分-ROS2Gazebo9附3

最新推荐文章于 2025-10-18 16:53:26 发布

原创最新推荐文章于 2025-10-18 16:53:26 发布 · 2.2k 阅读

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CC 4.0 BY-SA版权

本文详细解析了CMakeLists.txt文件的配置方法，包括设置C/C++标准、添加编译选项、查找依赖包、生成URDF文件及安装目录等关键步骤。适用于ROS机器人项目的构建与管理。

CMakeLists.txt

cmake_minimum_required(VERSION 3.5)
project(mobot)

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)

# Generate .urdf files from .urdf.xacro files
find_package(xacro REQUIRED)
# Xacro files
file(GLOB xacro_files urdf/*.urdf.xacro)

foreach(it ${xacro_files})
  # remove .xacro extension
  string(REGEX MATCH "(.*)[.]xacro$" unused ${it})
  set(output_filename ${CMAKE_MATCH_1})

  # create a rule to generate ${output_filename} from {it}
  xacro_add_xacro_file(${it} ${output_filename})

  list(APPEND urdf_files ${output_filename})
endforeach(it)

# add an abstract target to actually trigger the builds
add_custom_target(media_files ALL DEPENDS ${urdf_files})

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # uncomment the line when a copyright and license is not present in all source files
  #set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # uncomment the line when this package is not in a git repo
  #set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

install(DIRECTORY worlds  
  DESTINATION share/${PROJECT_NAME})

install(DIRECTORY urdf
  DESTINATION share/${PROJECT_NAME})

#install(DIRECTORY meshes
#  DESTINATION share/${PROJECT_NAME})

install(DIRECTORY launch
  DESTINATION share/${PROJECT_NAME})

ament_package()