从源码编译安装mosquitto

原创已于 2025-07-03 15:02:34 修改 · 717 阅读

1 ·

CC 4.0 BY-SA版权

文章标签：

#linux

于 2024-06-18 15:30:59 首次发布

一、下载：

sudo wget https://mosquitto.org/files/source/mosquitto-2.0.15.tar.gz
tar -zxvf mosquitto-2.0.15.tar.gz   //编译是cd进入源码文件夹内

二、安装：

安装依赖：

sudo apt install gcc g++ make libssl-dev libcjson-dev libwebsockets-dev

编译安装：

sudo make 
sudo make install

三、查看头文件和静态库安装路径：

头文件一般在：/usr/local/include/路径下；

静态库（.so文件）:/usr/local/lib路径下；

四.添加到ROS2环境中，CmakeList.txt文件eg：

cmake_minimum_required(VERSION 3.8)
project(mqtt_conn)

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)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(geometry_msgs REQUIRED) # 添加geometry_msgs包


# 1.添加MQTT支持
# 查找Mosquitto库 - 使用find_library确保正确链接
find_library(MOSQUITTO_C_LIBRARY NAMES mosquitto)
find_library(MOSQUITTO_CPP_LIBRARY NAMES mosquittopp)

if(NOT MOSQUITTO_C_LIBRARY OR NOT MOSQUITTO_CPP_LIBRARY)
    message(FATAL_ERROR "Mosquitto libraries not found. Please install libmosquitto-dev and libmosquittopp-dev.")
endif()

add_executable(publish_node src/publish_node.cpp)
target_include_directories(publish_node PUBLIC include)
ament_target_dependencies(publish_node rclcpp std_msgs geometry_msgs)

# 包含头文件
target_include_directories(publish_node PUBLIC
  ${CMAKE_INCLUDE_PATH}
)

# 2.直接链接Mosquitto库
target_link_libraries(publish_node
  ${rclcpp_LIBRARIES}
  ${std_msgs_LIBRARIES}
  ${geometry_msgs_LIBRARIES}
  ${MOSQUITTO_C_LIBRARY}
  ${MOSQUITTO_CPP_LIBRARY}
)

install(TARGETS
  publish_node
  DESTINATION lib/${PROJECT_NAME}
)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()

通过以上步骤，可以把mqtt协议集成到ros2中。