catkin_simple 的使用
Catkin simple 可用于规范catkin package, 并简化CMakeLists
- Dependencies are just listed once as
build-depend
in thepackage.xml
, not also asrun-depend
etc. - Dependencies 无需在 CMakeLists.txt 中列出
- Explicit linking of dependencies is not needed anymore (e.g. no
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
needed) - Explicit inclusion of catkin include not needed anymore (e.g. no
include_directories(${catkin_INCLUDES})
needed) - Export and installation commands are both one-liners.
工具安装:
cd $CATKIN_WS/src
git clone git@github.com:catkin/catkin_simple.git
cd $CATKIN_WS
catkin_make
示例代码:
https://github.com/simonlynen/catkin_and_catkin_simple
示例CMakelists 解释:
https://github.com/catkin/catkin_simple/blob/master/README.md
cmake_minimum_required(VERSION 2.8.)
project(foo) find_package(catkin_simple REQUIRED) catkin_simple(ALL_DEPS_REQUIRED) //调用 catkin_simple,call package.xml中的所用build_depend,并do find_package(...)操作
//当所有的package 成功找到,a list of "catkin build dependencies"出现,并传给find_package(catkin REQUIRED COMPONETS...)
//然后增加local include 和 catkin include 目录,并传给include_directories(...)
//最后发现并编译ROS messages,services and actions which in msg/src/action 文件夹,注意当且仅当package.xml中build_depend 包含message_generation才执行该操作
//同样查找并编译dynamic_reconfigure 文件in cfg文件夹,注意当且仅当build_depend 包含dynamic_reconfigure
cs_add_library(my_lib src/my_lib.cpp) //首先call directly through to add_library
//然后call target_link_libraries(my_lib ${catkin_LIBRARIES})去链接新库(注意build_depend需要包含新库)
//最后it does some bookkeeping so that your library target can be implicitly used later??? cs_add_executable(my_exec src/main.cpp)//calls CMake's add_executable(...) instead.
target_link_libraries(my_exec my_lib) //注意这句话需要写出来 there is no way to enforce order of target creation. The executable is still automatically linked against the catkin libraries cs_install() //creates an installation rule for any libraries and executables you created with cs_ prefixed commands cs_install_scripts(scripts/my_script.py) cs_export() //calls catkin_package(...) under the hood, extending that call with any libraries created and catkin_depends found automatically with catkin_simple
存在的限制:
There are several known assumptions and incorrect behaviors in catkin_simple which are a result of the trade-off of correctness for convenience. There is no warning when a catkin package is not found during find_package.
There is over linking, as all libraries of all dependencies are linked against all targets indiscriminately.
Assumes that the include folder is meant to be in the include path.
If new .msg or .srv files are added, they will not be detected until you force CMake to run again
All targets have a target dependency on any downstream message generation, which results in sub-optimal parallelization of targets, as there are unnecessary dependencies created.
catkin_simple 的使用的更多相关文章
- ROS新闻 Towards ROS-native drones 无人机支持方案
PX4/Firmware:https://github.com/PX4/Firmware PXFmini An open autopilot daughter-board for the Raspbe ...
- ROS(indigo)swarm_robot 群机器人示例Gazebo
ROS(indigo)swarm_robot 群机器人示例Gazebo 参考网址:https://github.com/yangliu28/swarm_robot_ros_sim 安装提示:catki ...
- ROS--自定义消息类型
一.msg 用于发布-订阅的通信方式中. 1.在包的src 中创建msg文件夹. 2.在msg文件夹中,创建.msg文件 3.编辑.msg文件 4.编辑package.xml , 添加依赖 <b ...
- ROS基础-基本概念和简单工具(1)
1.什么是ROS? Robot operating System ,简单说机器人操作系统,弱耦合的分布式进程框架,通过进程间的消息传递和管理.实现硬件抽象和设备控制. 2.节点(node) node ...
随机推荐
- Linux配置FTP服务器
基于CentOS-6.5 1.先查看是否已安装:rpm -qa vsftpd 或 rpm -ql vsftpd 2.安装:yum install vsftpd -y 3.设置开机启动: chkconf ...
- nginx、fastCGI、php-fpm关系梳理(转载参考)
nginx.fastCGI.php-fpm关系梳理 还可以参考:http://www.cnblogs.com/skynet/p/4173450.html 前言: Linux下搭建nginx+php ...
- 第12讲- Android之消息提示Toast
第12讲 Android之消息提示Toast .Toast Toast 是一个 View 视图,在应用程序上浮动显示少量的信息给用户,它永远不会获得焦点,不影响用户的输入等操作,主要用于向用户显示一些 ...
- codevs 1001 舒适的路线 (并查集)
题目描述 Description Z小镇是一个景色宜人的地方,吸引来自各地的观光客来此旅游观光. Z小镇附近共有 N(<N≤)个景点(编号为1,,,…,N),这些景点被M(<M≤)条道路连 ...
- Struts1——从BeanUtils看struts的实现原理2
上一篇博客中我们简单的介绍了BeanUtils的使用.以及其最主要的原理,今天我们进一步的理解这个类在Struts1中的使用. 首先我们先回想一下搭建一个简单的基于Struts1框架的 ...
- [Protractor] Use protractor to catch errors in the console
For any reason, there is an error in your code, maybe something like undefined error. Protractor sti ...
- Qt Assistant 工作机制
Qt Assistant 是Qt 的助手,我们在看帮助的时候要用到的,它可以记住上一次你访问的位置. 1. 所以在你调用Qt Assistant为我们自己的程序写help的时候要记得修改qhcp配 ...
- JS滚轮事件(mousewheel/DOMMouseScroll)了解
已经没有了小学生时代过目不忘的记忆力了,很多自己折腾的东西.接触的东西,短短1年之后就全然不记得了.比方说,完全记不得获取元素与页面距离的方法(getBoundingClientRect),或者是不记 ...
- NSData、NSString 、 NSFileManager
1 NSData和NSMutableData的基本使用 1.1 问题 NSData类是IOS提供的用于以二进制的形式操作文件数据的类,NSData有两个常用的属性length和bytes,leng ...
- SAR ADC : 逐次逼近寄存器型(SAR)模数转换器(ADC)
1.为实现二进制搜索算法,N位寄存器首先设置在中间刻度(即:100... .00,MSB设置为1).这样,DAC输出(VDAC)被设为VREF/2,VREF是提供给ADC的基准电压.然后,比较判断VI ...