link_directories(/opt/ros/humble/lib/) # add_executable - 生成first_node可执行文件 add_executable(first_node first_ros2_node.cpp) # target_link_libraries - 为first_node(目标) 添加需要动态链接库,相同于指定g++编译器-l参数 # 下面的语句代替 -lrclcpp -lrcutils target_link_libraries(first_node...
add_dependencies(publisher_topic002 ${PROJECT_NAME}_generate_messages_cpp) add_executable(subscriber_topic002 src/subscriber_topic002.cpp) target_link_libraries(subscriber_topic002 ${catkin_LIBRARIES}) add_dependencies(subscriber_topic002 ${PROJECT_NAME}_generate_messages_cpp) 完整的 1 2 3 4 5 6 ...
add_executable(topic_publisher_01 src/topic_publisher_01.cpp) ament_target_dependencies(topic_publisher_01 rclcpp) install(TARGETS topic_publisher_01 DESTINATION lib/${PROJECT_NAME} ) 接着可以编译测试下,注意运行colcon的目录。 cd chapt3/chapt3_ws/ colcon build --packages-select example_topic_rclcp...
node->create_service<example_interfaces::srv::AddTwoInts>("add_two_ints", &add); 1. 2. 当节点准备好时,打印log信息: RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "Ready to add two ints."); 1. 启动节点,使得节点可用: rclcpp::spin(node); 1. 2.2添加可执行程序 add_executable宏生成一...
add_executable(node_helloworld_class src/node_helloworld_class.cpp) ament_target_dependencies(node_helloworld_class rclcpp) install(TARGETS node_helloworld_class DESTINATION lib/${PROJECT_NAME}) if(BUILD_TESTING) find_package(ament_lint_auto REQUIRED) ...
add_executable用于构建执行文件。它添加依赖的方式与上面构建库添加依赖的方式是一样的。 代码语言:text 复制 install(TARGETS nav2_costmap_2d_core layers filters nav2_costmap_2d_client ARCHIVE DESTINATION lib LIBRARY DESTINATION lib RUNTIME DESTINATION bin ...
add_executable用于构建执行文件。它添加依赖的方式与上面构建库添加依赖的方式是一样的。 install(TARGETS nav2_costmap_2d_core layers filters nav2_costmap_2d_client ARCHIVE DESTINATION lib LIBRARY DESTINATION lib RUNTIME DESTINATION bin ) 安装库的语句。它将在install/nav2_costmap_2d/lib安装库文件。其效...
() #生成库 add_executable() #生成可执行二进制文件 add_dependencies() #定义目标文件依赖于其他目标文件,确保其他目标已被构建 ament_target_dependencies() #新加宏,它将使依赖项的库、头文件和自身的依赖项被正常找到 target_link_libraries() #链接 install() #安装至本机 ament_package # 新加宏,安装...
add_executable(topic_subscribe_01 src/topic_subscribe_01.cpp) ament_target_dependencies(topic_publisher_01 rclcpp std_msgs) ament_target_dependencies(topic_subscribe_01 rclcpp std_msgs) install(TARGETS topic_publisher_01 DESTINATION lib/${PROJECT_NAME} ...
add_executable(linktime_compositionsrc/linktime_composition.cpp)set(libstalker_componentlistener_componentserver_componentclient_component) 2.2 package.xml package.xml文件中,需要添加对应的rclcpp_components的components依赖: <build_depend>example_interfaces</build_depend><...