{"id":155,"date":"2021-11-21T12:45:31","date_gmt":"2021-11-21T12:45:31","guid":{"rendered":"http:\/\/47.103.123.166\/?p=155"},"modified":"2021-11-21T12:45:31","modified_gmt":"2021-11-21T12:45:31","slug":"ros2_foxy%e5%ad%a6%e4%b9%a07-%e6%9e%84%e5%bb%ba","status":"publish","type":"post","link":"http:\/\/47.103.123.166\/?p=155","title":{"rendered":"ROS2_Foxy\u5b66\u4e607\u2014\u2014\u6784\u5efa"},"content":{"rendered":"

  \u5b98\u65b9\u6587\u6863\u603b\u662f\u5f88\u4e30\u5bcc\uff0c\u5173\u4e8e\u6784\u5efa\u5de5\u5177\uff0c\u53c2\u8003A universal build tool<\/a>\u3001Using colcon to build packages<\/a>\u3001ament_cmake user documentation<\/a>\u3002<\/p>\n

1 \u524d\u8a00<\/h1>\n

  ROS\u751f\u6001\u4e2d\uff0c\u4e00\u4e2a\u8f6f\u4ef6\u662f\u7531\u591a\u4e2a\u5206\u79bb\u7684package\u7ec4\u6210\u7684\uff0c\u8fd0\u884c\u8f6f\u4ef6\uff0c\u9996\u5148\u9700\u8981\u6784\u5efa\uff08build\uff09\u8fd9\u4e9bpackage\u3002
\n  \u624b\u52a8\u6784\u5efa\u4e00\u7ec4package\u7684\u65b9\u6cd5\u5c31\u662f\u9010\u4e2a\u6784\u5efa\uff0c\u6bcf\u4e2apackage\u90fd\u6709\u7279\u5b9a\u7684\u6784\u5efa\u7cfb\u7edf\uff0c\u9700\u8981\u6839\u636e\u4f9d\u8d56\u60c5\u51b5\u8bbe\u7f6e\u73af\u5883\uff0c\u7136\u540ebuild\u3002
\n  \u5982\u679cpackage\u53ca\u5176\u4f9d\u8d56\u8f83\u591a\u7684\u8bdd\uff0c\u5176\u6548\u7387\u662f\u96be\u4ee5\u63a5\u53d7\u7684\uff0c\u8fd9\u5c31\u9700\u8981\u4e00\u4e2a\u81ea\u52a8\u5316\u7684\u6784\u5efa\u5de5\u5177\uff0c\u53ea\u9700\u8981\u8c03\u7528\u4e00\u6b21\u5373\u53ef\u6784\u5efa\u4e00\u7ec4package\u3002
\n  ROS1\u63d0\u4f9b\u4e86\u591a\u4e2a\u81ea\u52a8\u6784\u5efa\u5de5\u5177\uff0ccatkin_make, catkin_make_isolated, \u548c catkin_tools\u3002ROS2\u63d0\u4f9b\u4e86\u4e00\u4e2a\u81ea\u52a8\u6784\u5efa\u5de5\u5177\uff0cament_tools\u3002<\/p>\n

2 \u6784\u5efa\u5de5\u5177\u4e0e\u6784\u5efa\u7cfb\u7edf<\/h1>\n

2.1 \u6784\u5efa\u5de5\u5177<\/h2>\n

  \u6784\u5efa\u5de5\u5177\u5728\u4e00\u7ec4package\u4e0a\u8fd0\u884c\uff0c\u5b83\u786e\u5b9a\u4f9d\u8d56\u5173\u7cfb\u56fe\uff0c\u5e76\u4ee5\u62d3\u6251\u987a\u5e8f\u4e3a\u6bcf\u4e2a\u5305\u8c03\u7528\u7279\u5b9a\u7684\u6784\u5efa\u7cfb\u7edf\u3002\u6784\u5efa\u5de5\u5177\u53ea\u9700\u8981\u77e5\u9053\u6bcf\u4e2a\u5305\u7279\u5b9a\u7684\u6784\u5efa\u7cfb\u7edf\u662f\u5982\u4f55\u8bbe\u7f6e\u73af\u5883\u4ee5\u6784\u5efa\u548c\u4f7f\u7528\u5305\u7684<\/strong>\u5373\u53ef\u3002
\n  \u6784\u5efa\u5de5\u5177\u4f8b\u5982catkin_make\uff0ccatkin_make_isolated\uff0ccatkin_tools\uff0cament_tools\uff0ccolcon\u3002<\/p>\n

2.2 \u6784\u5efa\u7cfb\u7edf<\/h2>\n

  \u6784\u5efa\u7cfb\u7edf\u5728\u5355\u4e2apackage\u4e0a\u8fd0\u884c\u3002
\n  \u6784\u5efa\u7cfb\u7edf\u4f8b\u5982Make\uff0cCMake\uff0cPython setuptools\uff0cament\u7b49\uff0cROS\u7684catkin\u548cament_cmake\u57fa\u4e8eCMake\u7684\u3002
\n  \uff08\u4e00\u822c\u4f7f\u7528\u5305\u62ec\u4ee5\u4e0b\u6b65\u9aa4\uff1acmake, make, make install\uff09<\/p>\n

3 \u6784\u5efa\u5de5\u5177 colcon<\/h1>\n

3.1 colcon\u80cc\u666f<\/h2>\n

  colcon\u662fROS\u6784\u5efa\u5de5\u5177catkin_make\u3001catkin_make_isolated\u3001catkin_tools\u548cament_tools\u7684\u8fed\u4ee3\u3002colcon\u76ee\u6807\u662f\u505a\u4e00\u4e2a\u901a\u7528\u6784\u5efa\u5de5\u5177<\/strong>\uff08universal build tool\uff09\uff0c\u80fd\u591f\u6784\u5efaROS1\u548cROS2\u7684\u5305\uff0c\u540c\u65f6\u4e5f\u80fd\u591f\u6784\u5efa\u4e00\u4e9b\u975eROS\u5305\u3002ROS\u4e2d\uff0ccatkin_make\u3001catkin_make_isolated\u3001catkin_tools\u3001ament_tools\u5c06\u9010\u6b65\u88abcolcon\u53d6\u4ee3\u3002<\/p>\n

3.2 colcon\u5b89\u88c5<\/h2>\n
$ sudo apt install python3-colcon-common-extensions<\/code><\/pre>\n
3.3 colcon\u4f7f\u7528<\/h2>\n
1\u3001\u521b\u5efa\u5de5\u4f5c\u7a7a\u95f4<\/p>\n
$ mkdir -p ~\/ros2_example_ws\/src\n$ cd ~\/ros2_example_ws<\/code><\/pre>\n
\u6ce8\uff1a-p \u7684\u610f\u4e49<\/a>\u3002<\/p>\n
2\u3001\u4e0b\u8f7d\u793a\u4f8b\u4ee3\u7801\u5230src\u6587\u4ef6\u5939\uff0c\u5e76\u68c0\u67e5\u517c\u5bb9\u6027<\/p>\n
$ git clone https:\/\/github.com\/ros2\/examples src\/examples\n# check\n$ cd ~\/ros2_example_ws\/src\/examples\/\n$ git checkout $ROS_DISTRO\n$ cd ~\/ros2_example_ws<\/code><\/pre>\n
  \u5b8c\u6210\u540e\uff0c\u5de5\u4f5c\u7a7a\u95f4\u7684\u6587\u4ef6\u7ec4\u7ec7\u7ed3\u6784\u5982\u4e0b<\/p>\n
.\n\u2514\u2500\u2500 src\n    \u2514\u2500\u2500 examples\n        \u251c\u2500\u2500 CONTRIBUTING.md\n        \u251c\u2500\u2500 LICENSE\n        \u251c\u2500\u2500 rclcpp\n        \u251c\u2500\u2500 rclpy\n        \u2514\u2500\u2500 README.md<\/code><\/pre>\n
3\u3001\u5728\u5de5\u4f5c\u7a7a\u95f4\u7684\u6839\u76ee\u5f55\u7f16\u8bd1\u793a\u4f8b\u4ee3\u7801<\/p>\n
$ cd ~\/ros2_example_ws\n$ colcon build --symlink-install\n# --symlink-install* \u7684\u610f\u4e49\u4e48\u770b\u61c2\uff1f\u4e0d\u52a0\uff0c\u4e5f\u80fd\u7f16\u8bd1\u6210\u529f\u3002<\/code><\/pre>\n
  \u5b8c\u6210\u540e\uff0c\u5de5\u4f5c\u7a7a\u95f4\u7ec4\u7ec7\u7ed3\u6784\u5982\u4e0b<\/p>\n
.\n\u251c\u2500\u2500 build\n\u251c\u2500\u2500 install\n\u251c\u2500\u2500 log\n\u2514\u2500\u2500 src\n    \u2514\u2500\u2500 examples\n        \u251c\u2500\u2500 CONTRIBUTING.md\n        \u251c\u2500\u2500 LICENSE\n        \u251c\u2500\u2500 rclcpp\n        \u251c\u2500\u2500 rclpy\n        \u2514\u2500\u2500 README.md<\/code><\/pre>\n
4\u3001\u6d4b\u8bd5\u793a\u4f8b\u4ee3\u7801<\/p>\n
$ colcon test<\/code><\/pre>\n
5\u3001\u914d\u7f6e\u73af\u5883\u53d8\u91cf\uff0c\u7136\u540e\u8fd0\u884c\u8282\u70b9<\/p>\n
$ . install\/setup.bash\n$ ros2 run examples_rclcpp_minimal_subscriber subscriber_member_function\n\n# \u6253\u5f00\u53e6\u4e00\u4e2a\u7ec8\u7aef\n$ . install\/setup.bash\n$ ros2 run examples_rclcpp_minimal_publisher publisher_member_function<\/code><\/pre>\n
3.4 tips<\/h2>\n
1\u3001COLCON_IGNORE\uff1a\u5728\u4e0d\u9700\u8981\u7f16\u8bd1\u7684\u5305\u4e2d\u6dfb\u52a0\u6587\u4ef6COLCON_IGNORE\uff0ccolcon\u5c06\u5ffd\u7565\u8fd9\u4e00\u529f\u80fd\u5305
\n2\u3001colcon\u652f\u6301\u591a\u79cd\u7f16\u8bd1\u7c7b\u578b\uff0c\u63a8\u8350ament_cmake \u548c ament_python\uff0c\u540c\u65f6\u4e5f\u652f\u6301\u7eafcmake\u5305\u3002\uff08\u5728\u4f7f\u7528ros2 pkg create\u547d\u4ee4\u521b\u5efa\u529f\u80fd\u5305\u65f6\uff0c\u53ef\u4ee5\u4f7f\u7528–build-type\u53c2\u6570\u6765\u6307\u5b9a\u8be5\u529f\u80fd\u5305\u7684\u7f16\u8bd1\u7c7b\u578b\uff0c\u7136\u540e\u6309\u6a21\u677f\u751f\u6210\u529f\u80fd\u5305\uff09<\/p>\n
$ touch COLCON_IGNORE<\/code><\/pre>\n
3.5 colcon_cd\u547d\u4ee4<\/h2>\n
  colcon_cd\u547d\u4ee4\u7684\u76ee\u7684\u662f\u4ece\u5f53\u524d\u76ee\u5f55\uff0c\u6362\u6210\u67d0\u4e2a\u5df2\u6709\u7684package\u76ee\u5f55\u3002
\n1\u3001colcon_cd\u5b89\u88c5
\n  \u53c2\u8003\u5b98\u65b9<\/a>\uff0c\u901a\u8fc7\u547d\u4ee4\u884c\u5b89\u88c5\u4e8c\u8fdb\u5236\u6587\u4ef6<\/p>\n
$ sudo sh -c 'echo \"deb [arch=amd64,arm64] http:\/\/repo.ros2.org\/ubuntu\/main <code>lsb_release -cs<\/code> main\" > \/etc\/apt\/sources.list.d\/ros2-latest.list'\n$ curl -s https:\/\/raw.githubusercontent.com\/ros\/rosdistro\/master\/ros.asc | sudo apt-key add -\n$ sudo apt update\n$ sudo apt install python3-colcon-common-extensions<\/code><\/pre>\n
2\u3001colcon_cd\u4f7f\u7528<\/p>\n
# \u83b7\u53d6\u5b89\u88c5\u6587\u4ef6\n$ echo \"source \/usr\/share\/colcon_cd\/function\/colcon_cd.sh\" >> ~\/.bashrc\n# \u63d0\u524d\u6307\u5b9a\u5305\u7684\u4f4d\u7f6e\n$ echo \"export _colcon_cd_root=~\/ros2_install\" >> ~\/.bashrc\n# \u76ee\u5f55\u53d8\u6362\u5230 ~\/ros2_install \u5de5\u4f5c\u7a7a\u95f4\u4e0b\u7684 some_ros_package \u5305\n$ colcon_cd some_ros_package<\/code><\/pre>\n
4 \u6784\u5efa\u7cfb\u7edf ament<\/h1>\n
  ament\u6784\u5efa\u7cfb\u7edf\u5305\u62ec\u4e24\u4e2a\u57fa\u672c\u7684\u5b50\u7c7b\uff0cament_python\u548cament_cmake\uff0c\u8fd9\u91cc\u53ea\u8ba8\u8bbaament_cmake\u3002
\n  \u4f7f\u7528ament_cmake\u7f16\u8bd1\u7cfb\u7edf\u7684\u529f\u80fd\u5305\u4f1a\u5bf9\u5e94\u751f\u6210\u4e24\u4e2a\u6587\u4ef6package.xml\u548cCMakeLists.txt\u3002<\/p>\n
4.1 \u7f16\u5199 package.xml<\/h2>\n
  package.xml\u63cf\u8ff0\u4e86\u529f\u80fd\u5305\u7684\u53d1\u884c\u4fe1\u606f\u3001\u4f9d\u8d56\u4fe1\u606f\u7b49\uff0c\u5185\u5bb9\u5982\u4e0b\u3002
\n  \u5728\u81ea\u52a8\u521b\u5efa\u540e\uff0c\u9700\u8981\u624b\u52a8\u4fee\u6539\u529f\u80fd\u5305\u63cf\u8ff0\u3001\u529f\u80fd\u5305\u7248\u672c\u3001\u529f\u80fd\u5305\u8bb8\u53ef\u8bc1\u4fe1\u606f\u7b49\u53d1\u884c\u4fe1\u606f\u3002\u4ee5\u201c _depend\u201d\u7ed3\u5c3e\u7684\u6807\u7b7e\u7528\u6765\u63cf\u8ff0\u529f\u80fd\u5305\u4f9d\u8d56\uff0c\u5728\u589e\u52a0\u65b0\u7684\u4f9d\u8d56\u65f6\uff0c\u9700\u8981\u6dfb\u52a0\u5230\u5176\u4e2d\u3002<\/p>\n
<!--  \u529f\u80fd\u5305\u57fa\u7840\u5185\u5bb9\uff0c\u4e0d\u7528\u4fee\u6539   -->\n<?xml version=\"1.0\"?>\n<?xml-model href=\"http:\/\/download.ros.org\/schema\/package_format3.xsd\" schematypens=\"http:\/\/www.w3.org\/2001\/XMLSchema\"?>\n<!--  \u4e0b\u9762\u662f\u529f\u80fd\u5305\u7684\u4fe1\u606f  -->\n<package format=\"3\">\n    <!--  \u5305\u540d\uff0c\u65b0\u5efa\u7684\u65f6\u5019\u5c31\u5b9a\u4e86\uff0c\u4e0d\u6539  -->\n    <name>cpp_srvcli<\/name>\n    <!--  \u5173\u4e8e\u53d1\u884c\u4fe1\u606f   -->\n    <version>0.0.0<\/version>\n    <description>\u8fd9\u91cc\u5199\u529f\u80fd\u63cf\u8ff0<\/description>\n    <maintainer email=\"\u8fd9\u91cc\u5199\u90ae\u7bb1\u5730\u5740\">Your Name<\/maintainer>\n    <license>\u8fd9\u91cc\u5199\u8bb8\u53ef\u8bc1<\/license>\n    <!--  \u7f16\u8bd1\u7cfb\u7edf\u7684\u4f9d\u8d56   -->\n    <buildtool_depend>ament_cmake<\/buildtool_depend>\n    <!--  \u7a0b\u5e8f\u6240\u9700\u7684\u4f9d\u8d56\uff0c\u6839\u636e\u9700\u8981\u4fee\u6539\u6dfb\u52a0   -->\n    <depend>rclcpp<\/depend>\n    <!--  \u7f16\u8bd1\u7cfb\u7edf\uff0c\u65b0\u5efa\u529f\u80fd\u5305\u7684\u65f6\u5019\u53ef\u4ee5\u6307\u5b9a   -->\n    <export>\n    <build_type>ament_cmake<\/build_type>\n    <\/export>\n<\/package><\/code><\/pre>\n
4.2 \u7f16\u5199 CMakeLists.txt<\/h2>\n
1\u3001\u57fa\u672c\u6846\u67b6<\/p>\n
cmake_minimum_required(VERSION 3.5) \/\/cmake\u7248\u672c\u8981\u6c42\nproject(my_project)                 \/\/\u529f\u80fd\u5305\u540d\uff0c\u4e0e\u540c\u4e00\u529f\u80fd\u5305\u4e0bpackage.xml\u4e2d\u540d\u5b57\u4e00\u6837\n\nament_package()                     \/\/\u914d\u7f6eproject\uff0c\u53ea\u8c03\u7528\u4e00\u6b21\uff0c\u4e14\u5728\u6700\u540e<\/code><\/pre>\n
ament_package()\u7684\u4f5c\u7528\u6709\u8fd9\u4e48\u51e0\u4e2a\uff1a
\n\u7b2c\u4e00\uff0c\u5b89\u88c5package.xml\u6587\u4ef6\uff0cament_package()\u63d0\u4f9b\u4e86\u67e5\u627e\u548c\u89e3\u6790package.xml\u6587\u4ef6\u7684API\uff1b
\n\u7b2c\u4e8c\uff0c\u6309ament\u7d22\u5f15\uff0c\u6ce8\u518c\u529f\u80fd\u5305\uff1b
\n\u7b2c\u4e09\uff0c\u5b89\u88c5cmake\u914d\u7f6e\u6587\u4ef6\uff08\u4e5f\u5c31\u662f\u751f\u6210.cmake\u6587\u4ef6\uff0c\u540d\u5b57\u7c7b\u4f3c\u4e8eFindXXX.cmake\u6216\u8005xxxConfig.cmake\uff09\u4ee5\u4fbf\u4e8e\u5176\u4ed6\u5305\u8981\u4f9d\u8d56\u8fd9\u4e2a\u5305\u65f6\uff0c\u80fd\u88abcmake\u627e\u5230\u3002<\/p>\n
2\u3001\u7f16\u8bd1\u76ee\u6807
\n  \u7f16\u8bd1\u76ee\u6807\u5305\u62ec libraries<\/strong> \u548c executables<\/strong>\u3002<\/p>\n
  \u5bf9\u4e8e\u7f16\u8bd1\u5e93\uff0ccmake\u8bed\u6cd5\u5982\u4e0b\u3002<\/p>\n
# A \u521b\u5efa\u5e93\uff0c\u5e76\u6307\u5b9a\u7f16\u8bd1\u65f6\u7684\u6e90\u6587\u4ef6\n    add_library(<name> [STATIC | SHARED | MODULE]\n                [EXCLUDE_FROM_ALL]\n                source1 [source2 ...])\n    # STATIC \uff1a \u9759\u6001\u5e93\n    # SHARED \uff1a \u5171\u4eab\u5e93\n    # MODULE \uff1a \u5728\u4f7f\u7528 dyld \u7684\u7cfb\u7edf\u6709\u6548,\u5982\u679c\u4e0d\u652f\u6301 dyld,\u5219\u88ab\u5f53\u4f5c SHARED \u5bf9\u5f85\n\n# B \u7f16\u8bd1\u8fd9\u4e2a\u5e93\u65f6\u8981\u5305\u542b\u7684\u5934\u6587\u4ef6\uff0c\u5fc5\u987b\u5148\u4f7f\u7528add_library\u521b\u5efa\n    target_include_directories(<name> <INTERFACE|PUBLIC|PRIVATE>\n                $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}\/include>\n                $<INSTALL_INTERFACE:include>)\n    # CMAKE_CURRENT_SOURCE_DIR \uff1a\u5f53\u524d\u5904\u7406\u7684CMakeLists.txt\u6240\u5728\u7684\u76ee\u5f55\n    # BUILD_INTERFACE \uff1a \u6784\u5efa\u65f6\u7684\u63a5\u53e3\n    # INSTALL_INTERFACE \uff1a\u5b89\u88c5\u65f6\u7684\u63a5\u53e3\n\n# EXAMPLE\n    add_library(action_server SHARED src\/fibonacci_action_server.cpp)\n    target_include_directories(action_server PRIVATE\n                $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}\/include>\n                $<INSTALL_INTERFACE:include>)<\/code><\/pre>\n
  \u5bf9\u4e8e\u7f16\u8bd1\u53ef\u6267\u884c\u6587\u4ef6\uff0ccmake\u8bed\u6cd5\u5982\u4e0b\u3002<\/p>\n
# A \u521b\u5efa\u53ef\u6267\u884c\u6587\u4ef6\uff0c\u5e76\u6307\u5b9a\u7f16\u8bd1\u65f6\u7684\u6e90\u6587\u4ef6\n    add_executable(<name> [WIN32] [MACOSX_BUNDLE]\n                    [EXCLUDE_FROM_ALL]\n                    [source1] [source2 ...])\n    # WIN32 MACOSX_BUNDLE \u5206\u522b\u662fWindows\u548cMac\u7cfb\u7edf\u7684\u6784\u5efa\u9009\u9879\n    # EXCLUDE_FROM_ALL\u9009\u9879\u589e\u52a0\uff0c\u8868\u793a\u4e0d\u6784\u5efa\u6b64\u53ef\u6267\u884c\u6587\u4ef6\n\n# EXAMPLE\n    add_executable(server src\/add_three_ints_server.cpp)<\/code><\/pre>\n
3\u3001\u7f16\u8bd1\u4f9d\u8d56
\n  \u7f16\u8bd1\u4f9d\u8d56\u6709\u4e24\u79cd\u65b9\u5f0f\uff0cament_target_dependencies\u548ctarget_link_libraries\u3002
\n  \u9996\u5148\u63a8\u8350\u524d\u8005\uff0c\u81ea\u52a8\u5305\u542b\u5934\u6587\u4ef6\u3001\u5e93\u53ca\u5176\u4f9d\u8d56\u9879\uff0c\u4f7f\u7528\u8986\u76d6\u5de5\u4f5c\u533a\u65f6\uff0c\u5c06\u786e\u4fdd\u6b63\u786e\u6392\u5217\u6240\u6709\u4f9d\u8d56\u9879\u7684\u5305\u542b\u76ee\u5f55\u3002
\n  \u5f53\u524d\u8005\u65e0\u6cd5\u627e\u5230\u5e93\u65f6\uff0c\u4f7f\u7528\u540e\u8005\u3002\u4f8b\u5982\u81ea\u5b9a\u4e49\u7684\u5e93\u6587\u4ef6\uff0c\u4ecd\u9700\u8981\u4f7f\u7528target_link_libraries\u7684\u65b9\u5f0f\u94fe\u63a5\u3002\u8bed\u6cd5\u7c7b\u4f3c\uff0c\u4f46\u9700\u8981\u5305\u542b\u5fc5\u8981\u7684\u4f9d\u8d56\u548c\u4f7f\u7528include_directories()\u5305\u542b\u5fc5\u8981\u7684\u5934\u6587\u4ef6\u3002
\n  \u540c\u6837\uff0c\u76ee\u6807\u8981\u5148\u521b\u5efa\uff0c\u624d\u80fd\u6dfb\u52a0\u4f9d\u8d56\u3002<\/p>\n
# ament_target_dependencies\n    find_package(dependence REQUIRED)\n    ament_target_dependencies(target Eigen3)\n\n# EXAMPLE\n    find_package(rclcpp REQUIRED)\n    ament_target_dependencies(action_server\n      \"rclcpp\")<\/code><\/pre>\n
4\u3001\u5bfc\u51fa\u5e93<\/a>
\n\uff08\u8fd9\u4e2a\uff0c\u540e\u9762\u7528\u5230\u7684\u65f6\u5019\u518d\u8865\u5145…\uff09<\/p>\n
    ament_export_targets(export_my_library HAS_LIBRARY_TARGET)\n    ament_export_dependencies(some_dependency)\n\n    install(\n      DIRECTORY include\/\n      DESTINATION include\n    )\n\n    install(\n      TARGETS my_library\n      EXPORT export_my_library\n      LIBRARY DESTINATION lib\n      ARCHIVE DESTINATION lib\n      RUNTIME DESTINATION bin\n      INCLUDES DESTINATION include\n    )<\/code><\/pre>\n
5\u3001install\u547d\u4ee4<\/p>\n
# A cmake\u7684\u8bed\u6cd5\u5982\u4e0b\n    install(TARGETS targets... [EXPORT <export-name>]\n            [[ARCHIVE|LIBRARY|RUNTIME|OBJECTS|FRAMEWORK|BUNDLE|\n              PRIVATE_HEADER|PUBLIC_HEADER|RESOURCE]\n             [DESTINATION <dir>]\n             [PERMISSIONS permissions...]\n             [CONFIGURATIONS [Debug|Release|...]]\n             [COMPONENT <component>]\n             [NAMELINK_COMPONENT <component>]\n             [OPTIONAL] [EXCLUDE_FROM_ALL]\n             [NAMELINK_ONLY|NAMELINK_SKIP]\n            ] [...]\n            [INCLUDES DESTINATION [<dir> ...]]\n            )\n# EXAMPLE        \n    install(TARGETS\n          action_server\n          action_client\n          ARCHIVE DESTINATION lib\n          LIBRARY DESTINATION lib\n          RUNTIME DESTINATION bin)\n    # ARCHIVE \u5b89\u88c5\u9759\u6001\u5e93\u5230 ${CMAKE_INSTALL_LIBDIR}\/lib\n    # LIBRARY \u5b89\u88c5\u52a8\u6001\u5e93\u5230 ${CMAKE_INSTALL_LIBDIR}\/lib\n    # RUNTIME \u5b89\u88c5\u53ef\u6267\u884c\u4e8c\u8fdb\u5236\u6587\u4ef6\u5230 ${CMAKE_INSTALL_BINDIR}\/bin<\/code><\/pre>\n
6\u3001target_compile_options<\/a><\/p>\n
\u9644\uff1a\u9664\u5b98\u7f51\u5916\u7684\u5176\u4ed6\u53c2\u8003<\/h1>\n
1\u3001https:\/\/cmake.org\/cmake\/help\/v3.19\/command\/target_include_directories.html<\/a><\/a><\/p>\n
2\u3001ROS\u5b66\u4e60\u65e5\u8bb02<\/a><\/p>\n
3\u3001cmake(8)\uff1ainstall\u547d\u4ee4\u8be6\u89e3<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"
  \u5b98\u65b9\u6587\u6863\u603b\u662f\u5f88\u4e30\u5bcc\uff0c\u5173\u4e8e\u6784\u5efa\u5de5\u5177\uff0c\u53c2\u8003A universal build tool\u3001Using colcon to build packages\u3001ament_cmake user documentation\u3002 1 \u524d\u8a00   ROS\u751f\u6001\u4e2d\uff0c\u4e00\u4e2a\u8f6f\u4ef6\u662f\u7531\u591a\u4e2a\u5206\u79bb\u7684package\u7ec4\u6210\u7684\uff0c\u8fd0\u884c\u8f6f\u4ef6\uff0c\u9996\u5148\u9700\u8981\u6784\u5efa\uff08build\uff09\u8fd9\u4e9bpackage\u3002   \u624b\u52a8\u6784\u5efa\u4e00\u7ec4package\u7684\u65b9\u6cd5\u5c31\u662f\u9010\u4e2a\u6784\u5efa\uff0c\u6bcf\u4e2apackage\u90fd\u6709\u7279\u5b9a\u7684\u6784\u5efa\u7cfb\u7edf\uff0c\u9700\u8981\u6839\u636e\u4f9d\u8d56\u60c5\u51b5\u8bbe\u7f6e\u73af\u5883\uff0c\u7136\u540ebuild\u3002   \u5982\u679cpackage\u53ca\u5176\u4f9d\u8d56\u8f83\u591a\u7684\u8bdd\uff0c\u5176\u6548\u7387\u662f\u96be\u4ee5\u63a5\u53d7\u7684\uff0c\u8fd9\u5c31\u9700\u8981\u4e00\u4e2a\u81ea\u52a8\u5316\u7684\u6784\u5efa\u5de5\u5177\uff0c\u53ea\u9700\u8981\u8c03\u7528\u4e00\u6b21\u5373\u53ef\u6784\u5efa\u4e00\u7ec4package\u3002   ROS1\u63d0\u4f9b\u4e86\u591a\u4e2a\u81ea\u52a8\u6784\u5efa\u5de5\u5177\uff0ccatkin_make, catkin_make_isolated, \u548c catkin_tools\u3002ROS2\u63d0\u4f9b\u4e86\u4e00\u4e2a\u81ea\u52a8\u6784\u5efa\u5de5\u5177\uff0cament_tools\u3002 2 \u6784\u5efa\u5de5\u5177\u4e0e\u6784\u5efa\u7cfb\u7edf 2.1 \u6784\u5efa\u5de5\u5177   \u6784\u5efa\u5de5\u5177\u5728\u4e00\u7ec4package\u4e0a\u8fd0\u884c\uff0c\u5b83\u786e\u5b9a\u4f9d\u8d56\u5173\u7cfb\u56fe\uff0c\u5e76\u4ee5\u62d3\u6251\u987a\u5e8f\u4e3a\u6bcf\u4e2a\u5305\u8c03\u7528\u7279\u5b9a\u7684\u6784\u5efa\u7cfb\u7edf\u3002\u6784\u5efa\u5de5\u5177\u53ea\u9700\u8981\u77e5\u9053\u6bcf\u4e2a\u5305\u7279\u5b9a\u7684\u6784\u5efa\u7cfb\u7edf\u662f\u5982\u4f55\u8bbe\u7f6e\u73af\u5883\u4ee5\u6784\u5efa\u548c\u4f7f\u7528\u5305\u7684\u5373\u53ef\u3002   \u6784\u5efa\u5de5\u5177\u4f8b\u5982catkin_make\uff0ccatkin_make_isolated\uff0ccatkin_tools\uff0cament_tools\uff0ccolcon\u3002 2.2 \u6784\u5efa\u7cfb\u7edf   \u6784\u5efa\u7cfb\u7edf\u5728\u5355\u4e2apackage\u4e0a\u8fd0\u884c\u3002   \u6784\u5efa\u7cfb\u7edf\u4f8b\u5982Make\uff0cCMake\uff0cPython setuptools\uff0cament\u7b49\uff0cROS\u7684catkin\u548cament_cmake\u57fa\u4e8eCMake\u7684\u3002   \uff08\u4e00\u822c\u4f7f\u7528\u5305\u62ec\u4ee5\u4e0b\u6b65\u9aa4\uff1acmake, make, make install\uff09 3 \u6784\u5efa\u5de5\u5177 colcon 3.1 colcon\u80cc\u666f   colcon\u662fROS\u6784\u5efa\u5de5\u5177catkin_make\u3001catkin_make_isolated\u3001catkin_tools\u548cament_tools\u7684\u8fed\u4ee3\u3002colcon\u76ee\u6807\u662f\u505a\u4e00\u4e2a\u901a\u7528\u6784\u5efa\u5de5\u5177\uff08universal build tool\uff09\uff0c\u80fd\u591f\u6784\u5efaROS1\u548cROS2\u7684\u5305\uff0c\u540c\u65f6\u4e5f\u80fd\u591f\u6784\u5efa\u4e00\u4e9b\u975eROS\u5305\u3002ROS\u4e2d\uff0ccatkin_make\u3001catkin_make_isolated\u3001catkin_tools\u3001ament_tools\u5c06\u9010\u6b65\u88abcolcon\u53d6\u4ee3\u3002 3.2 colcon\u5b89\u88c5 $ sudo apt install python3-colcon-common-extensions 3.3 colcon\u4f7f\u7528 1\u3001\u521b\u5efa\u5de5\u4f5c\u7a7a\u95f4 $ mkdir -p […]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":[],"categories":[4],"tags":[],"_links":{"self":[{"href":"http:\/\/47.103.123.166\/index.php?rest_route=\/wp\/v2\/posts\/155"}],"collection":[{"href":"http:\/\/47.103.123.166\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/47.103.123.166\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/47.103.123.166\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/47.103.123.166\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=155"}],"version-history":[{"count":1,"href":"http:\/\/47.103.123.166\/index.php?rest_route=\/wp\/v2\/posts\/155\/revisions"}],"predecessor-version":[{"id":156,"href":"http:\/\/47.103.123.166\/index.php?rest_route=\/wp\/v2\/posts\/155\/revisions\/156"}],"wp:attachment":[{"href":"http:\/\/47.103.123.166\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=155"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/47.103.123.166\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=155"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/47.103.123.166\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=155"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}