一、catkin
catkin编译过程：
1.查找workspace(catkin_ws)下的src的package
2.catkin编译系统依据 Cmakelists.txt 和 package.xml 文件，生成 makefiles(catkin_ws/build/)
3.make makefiles文件，生成可执行文件 (放在catkin_ws/devel中)
cakin 相当于cmake 和 make 的封装完成编译的工具

讯享网
命令：catkin_make

mkdir -p ~/catkin_ws/src cd catkin_ws/src catkin_init_workspace #建立工作空间 catkin_create_pkg package1 rospy roscpp std_msgs #创建功能包，catkin_create_pkg+包名+依赖包 cd ~/catkin_ws #转移到工作空间目录下 catkin_make #编译 

讯享网cmake_minimun_required()#CMake版本号 project()#项目名 find_package()#找到编译需要的其他包 catkin_python_setup()#打开python module支持 add_message_files()#添加自定义的Message/Service/Action文件 add_service_files() add_action_files() generate_message()#生成不同语言版本的msg/sv/action接口 catkin_package()#生成当前package的cmake配置,供依赖本包的其他软件包调用 add_library()#生成库 add_executable()#生成可执行文件 target_link_libraries()#链接 catkin_add_gtest()#生成测试 install()#安装至本机 

cmake_minimun_required(VERSION 3.0.2) project(turtlesim)#$(PROJECT_NAME引用项目名称) find_package(catkin REQUIRED COMPONENTS roscpp roscpp_serialization roslib rostime rosconsole std_msgs std_srvs geometry_msgs message_generation )#指定依赖包(catkin是必备以来，其余为组件) find_package(QT5Weights REQUIRED) find_package(Boost REQUIRED COMPONENTS thread) include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})#指定C++的头文件路径 link_directories(${catkin_LIBRARY_DIRS})#指定链接库的路径 add_message_files(DIRECTORY msg FILES COlor.msg Pose.msg)#自定义msg文件 add_service_files(DIRECTORY srv FILES Kill.srv SetPen.srv Spawn.srv TeleportAbsolute.srv TeleportRelative.srv)#自定义srv文件 generate_messages(DEPENDENCIES geometry_msgs std_,sgs std_srvs)#add_message_files、add_service_files之后必须加上这句话,用于生成头文件，文件位于devel/include中 catkin_package(CATKIN_DEPENDS geometry_msgs message_runtime std_msgs std_srvs)# 配置ROS的package配置文件和CMake文件 ```c # 必须在add_library()或者add_executable()之前调用 # 有5个可选参数： # INCLUDE_DIRS - 导出包的include路径 # LIBRARIES - 导出项目中的库 # CATKIN_DEPENDS - 该项目依赖的其他catkin项目 # DEPENDS - 该项目所依赖的非catkin CMake项目。 # CFG_EXTRAS - 其他配置选项 

set(turtlesim_node_SRCS
src/turtlesim.cpp
src/turtle.cpp
src/turtle_frame.cpp
)
set(turtlesim_node_HDRS
include/turtlesim/turtle_frame.h
)#指定turtlesim_node_SRCS、turtlesim_node_HDRS变量
qt5_wrap_cpp(turtlesim_node_MOCS ${turtlesim_node_HDRS})

add_executable(turtlesim_node ${turtlesim_node_SRCS} ${turtlesim_node_MOCS})# 指定可执行文件目标turtlesim_node
target_link_libraries(turtlesim_node Qt5::Widgets ${catkin_LIBRARIES} ${Boost_LIBRARIES})# 指定链接可执行文件
add_dependencies(turtlesim_node turtlesim_gencpp)

add_executable(turtle_teleop_key tutorials/teleop_turtle_key.cpp)
target_link_libraries(turtle_teleop_key ${catkin_LIBRARIES})
add_dependencies(turtle_teleop_key turtlesim_gencpp)

add_executable(draw_square tutorials/draw_square.cpp)
target_link_libraries(draw_square ${catkin_LIBRARIES} ${Boost_LIBRARIES})
add_dependencies(draw_square turtlesim_gencpp)

add_executable(mimic tutorials/mimic.cpp)#指定可执行目标
target_link_libraries(mimic ${catkin_LIBRARIES})＃链接
add_dependencies(mimic turtlesim_gencpp)＃依赖

install(DIRECTORY images
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
FILES_MATCHING PATTERN “.png” PATTERN “.svg”)

备注：
点击下面链接，进入奥比中光开发者社区，了解更多3D视觉技术信息：https://developer.orbbec.com.cn/
或扫描下方二维码,进入奥比中光开发者社区：