ROS2 + Qt5 cmake的CMakeLists.txt文件配置

原创已于 2023-04-21 19:16:23 修改 · 1.1k 阅读

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#qt #开发语言 #ubuntu #c++

于 2023-04-21 19:15:26 首次发布

本文介绍了如何在ROS2Foxy环境下结合Qt5在Linux平台上创建和编译功能包。内容包括CMakeLists.txt的配置，使用rclcpp和std_msgs包，以及QtUI的集成。文章提到了在CMakeLists中设置头文件路径，处理UI和资源文件，以及链接库的步骤。

ROS2 QT实现学习笔记-1.1 功能包的创建和编译

ROS2 Foxy + Qt5 on Linux Platform

按上面两个文章配置后的目录结构

├── build
├── CMakeLists.txt
├── include
│   ├── mainwindow.h
│   └── rclcomm.h
├── package.xml
├── resource
├── src
│   ├── main.cpp
│   ├── mainwindow.cpp
│   └── rclcomm.cpp
└── ui
    └── mainwindow.ui

rclcomm.cpp和rclcomm.h是我的测试文件

CMakeLists.txt

cmake_minimum_required(VERSION 3.8)
project(ros2_qt_demo LANGUAGES CXX)

set(CMAKE_INCLUDE_CURRENT_DIR ON)

# ！！！ 第一个要注释掉
# set(CMAKE_AUTOUIC ON)
set(CMAKE_AUTOMOC ON)
set(CMAKE_AUTORCC ON)

set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
# ROS
# ！！！ros需要的功能在这里导入
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
# QT
find_package(Qt5 COMPONENTS Widgets REQUIRED)
# find_package(<dependency> REQUIRED)

# 项目目录下的目标配置文件
file(GLOB PRO_SOURCE_DIR RELATIVE ${CMAKE_SOURCE_DIR} FOLLOW_SYMLINKS src/*.cpp)
file(GLOB PRO_UI_DIR RELATIVE ${CMAKE_SOURCE_DIR} FOLLOW_SYMLINKS ui/*.ui)
file(GLOB PRO_INCLUDE_DIR RELATIVE ${CMAKE_SOURCE_DIR} FOLLOW_SYMLINKS include/*.h *.hpp)
file(GLOB PRO_RESOURCE_DIR RELATIVE ${CMAKE_SOURCE_DIR} FOLLOW_SYMLINKS resource/*.qrc)
# include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include)
#搜索头文件的位置
include_directories(
       include
       ${rclcpp_INCLUDE_DIRS}# ！！！ 编译找不到rclcpp.hpp，要加上这个
       ${CMAKE_CURRENT_BINARY_DIR}
       ${CMAKE_CURRENT_SOURCE_DIR}
)
# include_directories(${rclcpp_INCLUDE_DIRS})
# （输出， 输入）
qt5_wrap_ui(QT_UI_HPP ${PRO_UI_DIR})
qt5_wrap_cpp(QT_MOC_HPP ${PRO_INCLUDE_DIR})
qt5_add_resources(QT_RESOUCE_HPP ${PRO_RESOURCE_DIR})

# 导入可执行的目标文件
add_executable(${PROJECT_NAME}
    ${PRO_SOURCE_DIR}
    ${PRO_INCLUDE_DIR}
    ${PRO_UI_DIR}
    ${PRO_RESOURCE_DIR}
    ${QT_UI_HPP} # UI的文件应该不需要添加在这里
    ${QT_MOC_HPP}
    ${QT_RESOUCE_HPP}
)
# ！！！ 编译找不到rclcpp.hpp，这里要加上${rclcpp_LIBRARIES}
target_link_libraries(${PROJECT_NAME} PRIVATE Qt5::Widgets ${rclcpp_LIBRARIES})

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()

TFDY/qt_ros_demo

这个是我配置后的qt_ros_demo