ros下编译安装package

最新推荐文章于 2024-12-17 17:08:12 发布

原创最新推荐文章于 2024-12-17 17:08:12 发布 · 1.1k 阅读

4 ·

CC 4.0 BY-SA版权

文章标签：

#ros install package #ros安装节点

ros系统开发专栏收录该内容

3 篇文章

订阅专栏

本文详细介绍了如何配置和发布ROS包，包括设置Release目录、修改CMakeLists.txt文件、安装可执行文件、库文件、Launch文件、头文件、Python文件及其他资源文件，并提供了编译指令及参考链接。

原文地址:

配置Release目录
catkin config --install
修改CMakeList.txt文件
修改节点中CMakeLists.txt文件:
假设此处我们的节点项目名称为:test_node ( 即CMakeLists.txt中project(test_node) )

可执行文件安装:

install(TARGETS test_node 
      ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
      LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
      RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

库文件安装:

install(TARGETS test_node_lib
        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
        RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})

第三方库文件安装：

install(FILES src/libplatooning/libplatooning.so
        DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
)

Launch文件安装:

install(DIRECTORY launch/
        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
)

头文件安装:

#创建目录
file(MAKE_DIRECTORY ${CMAKE_INSTALL_PREFIX}/include/${PROJECT_NAME})
#INCLUDE_DIRS 为find_package的头文件路径
catkin_package(
        INCLUDE_DIRS ${CMAKE_INSTALL_PREFIX}/include/${PROJECT_NAME}
)

install(DIRECTORY include/${PROJECT_NAME}/
        DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})

python文件安装:

install(PROGRAMS
  src/leading_vehicle_path_history.py
  src/leading_vehicle_view.py
  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

其他文件安装:

install(FILES your_data your_parameters
        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

编译:

catkin clean -b

catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
catkin build
or
catkin build --cmake-args -DCMAKE_BUILD_TYPE=Release

参考:
http://wiki.ros.org/ROS/ReleasingAPackage
https://docs.ros.org/api/catkin/html/howto/format1/index.html