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What does cmake in ROS refer to? in view of this question, this article introduces the corresponding analysis and answer in detail, hoping to help more partners who want to solve this problem to find a more simple and feasible way.

This time we discuss the compilation process of cmake and ROS code in ROS.

1. Basic preparation

Start by creating the basic workspace, create a new ROS project named catkin_ws, and create a src folder in it

$mkdir ~ / catkin_ws$ cd ~ / catkin_ws$ mkdir src$ cd src

Then add to the src file and use the ROS package tool, catkin_create_pkg, to create a new package named "test", which depends on "std_msgs, rospy, roscpp"

$catkin_create_pkg test std_msgs rospy roscpp tf sensor_msgs image_transport cv_bridge

Then create a new test.cpp file in src under the test folder, which is the standard location for source code. The file structure at this time is as follows

. └── src └── test ├── CMakeLists.txt ├── include │ └── test ├── package.xml └── src └── test.cpp

This file structure is a standard ROS project and package structure. If we need to add a new node package, we just need to add a folder under src that is similar to the test folder structure, such as test2, and the file structure will be as follows.

. └── src ├── test │ ├── CMakeLists.txt │ ├── include │ │ └── test │ ├── package.xml │ ├── package.xml~ │ └── src │ └── test.cpp └── test2 ├── CMakeLists.txt include ─ test2 ├── package.xml └── src └── test2.cpp

two。 After the file structure is ready, you need to configure CMakeLists.txt and package.xml

Here is the configuration for a specific example. This example is the OpenCV example, pure C++ code, does not involve the specific ROS function. The function of the example is to read the input of the camera and display it. (the above test of Ubuntu 14.04 passed. Please note the reference to the OpenCV library. Please include it with your own specific OpenCV library header file path. For specific configuration, you need to google)

# include # include / / # include "ros/ros.h" / / # include "std_msgs/String.h" using namespace cv; using namespace std; int main (int argc, char** argv) {/ / ros::init (argc, argv, "test"); Mat image; int cam_idx = 0; if (argc = = 2) {cam_idx = atoi (argv [1]) } VideoCapture cap (cam_idx); if (! cap.isOpened ()) {cerr image; imshow ("Display Image", image); waitKey (5);} / / ros::spin (); return 0;}

First configure CMakeLists.txt, add the example test.cpp here, and the configured file is, (for more specific parameter explanation, please see wiki)

Cmake_policy (SET CMP0012 NEW) cmake_minimum_required (VERSION 2.8.3) project (test) # find_package (catkin REQUIRED COMPONENTS cv_bridge image_transport roscpp rospy sensor_msgs std_msgs tf) find_package (OpenCV REQUIRED) include_directories (${OpenCV_INCLUDE_DIRS}) include_directories (${catkin_INCLUDE_DIRS}) # add our own node srcadd_executable (test_node src/test.cpp) target_link_libraries (test_node ${OpenCV_LIBS} ${catkin_LIBRARIES)

Then configure package.xml (see ROS,wiki for more specific explanations)

Test 0.0.0 The test package caoyuanfeng TODO catkin cv_bridge image_transport roscpp rospy sensor_msgs std_msgs tf opencv cv_bridge image_transport roscpp rospy sensor_msgs std_msgs tf opencv

Note that the image-related dependencies of OpenCV have been added.

3. Compile and run

After configuring the two files, the general new ROS project and node need to modify these two files, or only CMakelists.txt one file, if you rely on the same.

Go back to the root directory of the project, the catkin_ws folder, and compile with catkin_make

$cd ~ / catkin_make$ ls src$ catkin_make

Next, run the resulting node

$source devel/setup.bash$ rosrun test test_node

You will see the camera turned on and the camera popped up. Indicates that the node compilation runs successfully.

Looking back, I summed up the process of the whole ROS project.

Create a new fixed file structure

CMakeLists.txt and package.xml files of copy standard

Analyze your project dependencies and configure the above two configuration files

Write your own src code and add the source code path to the CMakeLists.txt

Compile and run, return 3 for error, and good job for success.

The code for the entire project is on git@osc, and you can see it here.

The answer to the question about what cmake in ROS refers to is shared here. I hope the above content can be of some help to you. If you still have a lot of doubts to be solved, you can follow the industry information channel to learn more about it.

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