include_directories(include${catkin_INCLUDE_DIRS}) add_library(polygon_pluginssrc/polygon_plugins.cpp) 下图中对应目录里,我们可以看到,已经编译生成了对应的.so动态链接库. 文件的命名是lib + <我们在cmakelists中add_library里面的命名> 5. 将插件加入ROS 接...
# 添加源文件,生成静态库 add_library(my_math_lib SHARD include/my_math_lib/my_math_lib.hpp src/my_math_lib.cpp ) # (不推荐)或者添加源文件,生成静态库 add_library(my_math_lib STATIC include/my_math_lib/my_math_lib.hpp src/my_math_lib.cpp ) # 用于代替传统的target_link_libraries ame...
## same as for the library above # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) ## Specify libraries to link a library or executable target against <!--目标链接库--> target_link_libraries(hello_vscode_c ${catkin_LIBRARIES} ) ##...
ros::ServiceClient client= n.serviceClient<srv_demo::AddTwoInts>("add_two_ints");//为add_two_ints服务创建一个客户端,ros::ServiceClient对象client用于稍后调用服务srv_demo::AddTwoInts srv;//实例化一个自动生成的服务类,并为其request成员赋值srv.request.a = atoll(argv[1]); srv.request.b=...
add_library(talker_component SHARED src/talker_component.cpp) rclcpp_components_register_nodes(talker_component "composition::Talker") # To register multiple components in the same shared library, use multiple calls # rclcpp_components_register_nodes(talker_component "composition::Talker2") ...
add_library j将指定的源文件生成链接文件,添加到工程中。 库文件的名字,一般会根据命令列出来的源文件创建,也可指定名字 source 1 source2 表示各个源文件 link_directories 指定要连接的库文件路径,不一定需要。因为find_package和find_library可以得到库文件的绝对路径 ...
add_library语句用于构建库。可以看到,上面使用了两个不同的语句来添加依赖。ament_target_dependencies是官方推荐的方式去添加依赖项。它将使依赖项的库、头文件和自身的依赖项被正常找到。 通常来说,若依赖项为ROS2功能包时,则使用ament_target_dependencies。若功能包有多个库,它也将一并包含。
add.cpp定义了一个add()函数,如下: # include "add.h" int add(int a, int b){ return a+b; } 其中CMakeLists.txt中,除了ros2 pkg create lib_tut生成的默认内容外,在ament_package()前追加如下代码: include_directories(include/lib_tut) # 头文件 add_library(asdf src/add.cpp) # 库的名字...
add_library(pluginlib_calculator src/calculator_plugins.cpp) target_link_libraries(pluginlib_calculator ${catkin_LIBRARIES}) ## polygon_loader executable add_executable(calculator_loader src/calculator_loader.cpp) target_link_libraries(calculator_loader ${catkin_LIBRARIES}) ...
add_library(talker_component SHARED src/talker_component.cpp) rclcpp_components_register_nodes(talker_component "composition::Talker") # To register multiple components in the same shared library, use multiple calls# rclcpp_components_register_nodes(talker_component "composition::Talker2") ...