catkin_package解析

最新推荐文章于 2025-06-13 07:42:33 发布

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博客围绕ROS中catkin_package与find_package展开。在CMakelists.txt文件里能看到这两个命令，介绍了它们的区别，find_package需加载catkin宏并指定ROS包依赖，catkin_package负责包的ROS特定配置，添加的包要在package.xml指定依赖。

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catkin_package与find_package
https://cloud.tencent.com/developer/ask/183702

ROS Catkin 教程之 catkin_package(...) 到底在做什么？
https://blog.youkuaiyun.com/lcc816/article/details/82962561

https://answers.ros.org/question/58498/what-is-the-purpose-of-catkin_depends/
https://blog.youkuaiyun.com/lcc816/article/details/82949880

在文件CMakelists.txt中我看到find_packages和catkin_package：

find_package（catkin REQUIRED COMPONENTS roscpp rospy image_transport std_msgs message_generation sensor_msgs geometry_msgs） catkin_package（CATKIN_DEPENDS message_runtime std_msgs sensor_msgs geometry_msgs）

这两件事有什么区别？

## 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 ...

## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(...

该find_package命令是常见的cmake，需要加载catkin宏并指定其他ROS包的依赖关系。
该catkin_package命令是这些catkin宏之一。它负责包的ROS特定配置。因此，这是将ROS包与常见的cmake项目区分开来的重要部分。我不知道细节，但我想，例如，它负责设置catkin工作区的正确构建路径。当其他ROS包依赖于此包时，这里给出的参数（即依赖性）很重要。