[ROS introduction] cmakelist Txt and packages XML interpretation

file system

Reproduced in https://mp.weixin.qq.com/s/LwNUvFb5j5acsNkMYH46qQ

ROS File system Only on the hard disk ROS The organization of source code ：

Architecture interpretation ：

WorkSpace

workspace Custom workspace

- build

build Compilation space , To hold CMake and catkin Cache information for 、 Configuration information , And other intermediate documents

- devel

devel Development space , Used to store files generated after compilation , Including header files , dynamic & Static link library , Executable file

- src

src Source code

- - package

package Function pack （ROS The basic unit of , Contain multiple nodes , Libraries and profiles , Contains all letters in lowercase , Only letters Numbers And underline ）

- - - CmakeLists.txt

CmakeLists.txt To configure Compilation Rules , Such as source files , Dependencies Target file

- - - package.xml

package.xml Package information , such as Package name edition author Dependencies
（ The previous version was manifest.xml）

- - - scripts

scripts Storage python file

— include

include The header file

- - - msg

msg Message communication format file

- - - srv

srv Service communication format file

- - - action

action Action format file

- - - lanuch

lanuch Multiple nodes can be run at once

- - - config

config Configuration information

- - CMakeLists.txt

CMakeLists.txt – Basic configuration of compilation

CMakeLists.txt Document definition （ Basic configuration ）1

cmake_minimum_required(VERSION 3.0.2)   
#  what is needed  cmake  edition 
project(ros02_hello_vscode)        
  #  Package name , Will be  ${PROJECT_NAME}  Method call 
  ------------------------------------------------------

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages

## ` lookup catkin Macros and libraries 
##  If the component list is as follows find_package（catkin Required components xyz）
##  It's used , You can also find other catkin package 
-----------------------------------------------------------------


#  Set up the software package needed for the build 
find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  geometry_msgs
  message_generation
)
---------------------------------------------------------------
## System dependencies are found with CMake's conventions
#  Add system dependency by default 
# find_package(Boost REQUIRED COMPONENTS system)
----------------------------------------------------------------
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
##  If the package has setup.py, Uncomment this . This macro ensures that the modules and global scripts declared in it are installed 
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
#  start-up  python  Module support 
# catkin_python_setup()
-----------------------------------------------------------------

CMakeLists.txt Document definition （ Basic configuration ）2

################################################
## Declare ROS messages, services and actions ##
##  Statement  ROS  news 、 service 、 action  ##
################################################
------------------------------------------------------------------------------

## To declare and build messages, services or actions from within this
##  To declare and generate messages in this package 、 Service or operation , Please perform the following steps ： 
-----------------------------------------------------------------------------
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a exec_depend tag for "message_runtime"

## *MSG_DEP_SET Is the set of packages whose message types you use in 
##  Your message / service / operation （ for example std_msgs、actionlib_msgs etc. ）.
## * stay package.xml In file ：
## * by “ Message generation ” Add build dependency tags 
## * by MSG_DEP_SET Add... For each package in build_depend and exec_depend Mark 
## * If MSG_DEP_SET Not empty , The following dependencies have been pulled in 
##  But it is certain to announce ：
## * by “ Message runtime ” add to exec_dependen Mark 
-------------------------------------------------------------------
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## * In this document （CMakeLists.txt） in ：
## * add to “ Message generation ” And will MSG_DEP_ Each package in is set to 
##  Find packaging （catkin Required components …）
## * add to “message_runtime” And will MSG_DEP_ Each package in is set to 
##  Willow catkin packing （catkin The packing depends on the situation ）
## * Uncomment the following as needed “ Add files ” part 
##  List each... To be processed .msg/.srv/.action file 
## * Uncomment generate_messages entry 
## * stay MSG_DEP_SET Add each package to generate _ news （ Dependencies …）
------------------------------------------------------------------------
# Generate messages in the 'msg' folder
#  stay “msg” Generate message in folder  
add_message_files(
  FILES
  Topic.msg
)

## Generate services in the 'srv' folder
##  stay “srv” Generate service in folder 
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )

## Generate actions in the 'action' folder
##  stay “action” Generate operation in folder 
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )

## Generate added messages and services with any dependencies listed here
#  Generate messages 、 Service dependent packages 
generate_messages(
  DEPENDENCIES
  geometry_msgs
  std_msgs
)

################################################
## Declare ROS dynamic reconfigure parameters ##
##  Statement  ROS  Dynamic parameter configuration  ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
##  To declare and generate dynamic reconfiguration parameters within this package scope , Do the following ：
## * stay package.xml In file ：
## * by “ Dynamic reconfiguration ” Add build dependency and execute dependency tags 
## * In this document （CMakeLists.txt） in ：
## * take “dynamic_reconfigure” Add to 
##  Find packaging （catkin Required components …）
## * Uncomment “generate_dynamic_reconfigure_options” part 
##  List each... To be processed .cfg file 

## Generate dynamic reconfigure parameters in the 'cfg' folder
##  stay “cfg” Generate dynamic reconfiguration parameters in the folder  
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )

###################################
## catkin specific configuration ##
## catkin  Specific configuration  ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
## catkin_package Macros generate for packages cmake The configuration file 
##  The declaration is to be passed on to the dependent project 
## INCLUDE_DIRS： If packages Include header file , Please uncomment this 
##  library ： The dependent projects created in this project also need Libraries 
## CATKIN_DEPENDS： rely on CATKIN_packages The project also needs 
##  Dependencies ： The dependent project also requires the system dependencies of this project  

#  Runtime dependency 
catkin_package(
  INCLUDE_DIRS include
  LIBRARIES hello_vscode
  CATKIN_DEPENDS roscpp rospy std_msgs geometry_msgs
  DEPENDS system_lib
  message_runtime
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
#  Add the header file path , The header file path of the current package precedes other file paths 
include_directories(
# include
  ${catkin_INCLUDE_DIRS}
)

## Declare a C++ library
#  Statement  C++  library 
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/hello_vscode.cpp
# )

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
#  To add a library  cmake  Target dependence 
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
#  Statement  C++  Executable file 
add_executable(hello_vs_c src/hello_vs_c.cpp)
add_executable(ssy_c src/ssy_c.cpp)

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
#  rename c++ Executable file 
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
#  Add executable file  cmake  Target dependence 
add_dependencies(ssy_c ${PROJECT_NAME}_generate_messages_cpp)

## Specify libraries to link a library or executable target against
#  Specify the library 、 Link library of executable files 
target_link_libraries(hello_vs_c
  ${catkin_LIBRARIES}
)
target_link_libraries(ssy_c
  ${catkin_LIBRARIES}
)

#############
## Install  install  ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
#  Set the executable script for installation 
catkin_install_python(PROGRAMS
  scripts/hello_vscode_p.py
  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

## Mark executables for installation
#  Mark the executable to install 
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark libraries for installation
##  Mark the libraries to install 
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )

## Mark cpp header files for installation
##  Mark the to be installed cpp The header file 
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
##  Mark other files to install （ for example , Start and package files, etc ） 
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
##  Add based on gtest Of cpp Test target and link library  
# catkin_add_gtest(${PROJECT_NAME}-test test/test_hello_vscode.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
##  Add to be created by python Test run folder  
# catkin_add_nosetests(test)

Package.xml Document definition

（ Function pack (ROS Basic unit ) Contain multiple nodes 、 Libraries and profiles , All the letters of the package name are lowercase , Only letters 、 Numbers and underscores make up ）：

<?xml version="1.0"?>
<!--  Format :  It used to be  1, Recommended format  2 -->
<package format="2">
  <!--  Package name  -->
  <name>ros02_hello_vscode</name>
  <!--  edition  -->
  <version>0.0.0</version>
  <!--  Description information  -->
  <description>The ros02_hello_vscode package</description>

  <!--  Need a maintenance personnel tag , Allow multiple , One person per label  -->
  <!--  for example : -->
  <!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
  <!--  Maintainer  -->
  <maintainer email="[email protected]">joes</maintainer>


  <!--  Need a license label , Allow multiple , One license per label  -->
  <!--  Common license strings  : -->
  <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
  <!--  License information ,ROS The core component defaults to  BSD -->
  <license>TODO</license>


  <!-- Url Tags are optional , But allow multiple , One for each tag  -->
  <!--  The optional attribute type can be ： Website 、bugtracker Or repository  -->
  <!--  for example : -->
  <!-- <url type="website">http://wiki.ros.org/hello_vscode</url> -->


  <!--  The author tag is optional , Allow multiple , One for each tag  -->
  <!--  The author does not have to be a defender , But it can also be a maintainer  -->
  <!--  for example : -->
  <!-- <author email="[email protected]">Jane Doe</author> -->



<!-- * Dependency tags are used to specify dependencies -->
<!--  Dependencies can be catkin Package or system dependencies -->
<!--  Example ：-->
<!--  Use depend As a shortcut for generating dependencies and executing dependency packages -->
<!-- <depend>roscpp</depend>-->
<!--  Please note that , This is equivalent to the following ：-->
<!-- <build_depend>roscpp</build_depend>-->
<!-- <exec_depend>roscpp</exec_depend>-->
<!--  Use... For packages required at compile time build_depend:-->
<!-- <build_depend>message_generation</build_depend>-->
<!--  Use... For the packages you need build_export_depend, To generate... From this package ：-->
<!-- <build_export_depend>message_generation</build_export_depend>-->
<!--  Use buildtool_depend For building toolkits ：-->
<!-- <buildtool_depend>catkin</buildtool_depend>-->
<!--  For packages needed at runtime , Please use exec_depend:-->
<!-- <exec_depend>message_runtime</exec_depend>-->
<!--  Use for test only packages test_depend:-->
<!-- <test_depend>gtest</test_depend>-->
<!--  Use... For packages that are only used to generate documents doc_depend:-->
<!-- <doc_depend>doxygen</doc_depend>--> 

  <!--  Dependent build tools , It's a must  -->
  <buildtool_depend>catkin</buildtool_depend>

  <!--  Specify the packages required to build this package  -->
  <build_depend>roscpp</build_depend>
  <build_depend>rospy</build_depend>
  <build_depend>std_msgs</build_depend>
  <build_depend>geometry_msgs</build_depend>

  <!--  Specify the package required to build the library based on this package  -->
  <build_export_depend>roscpp</build_export_depend>
  <build_export_depend>rospy</build_export_depend>
  <build_export_depend>std_msgs</build_export_depend>
  <build_export_depend>geometry_msgs</build_export_depend>

  <!--  The package needed to run the code in this package  --> 
  <exec_depend>roscpp</exec_depend>
  <exec_depend>rospy</exec_depend>
  <exec_depend>std_msgs</exec_depend>
  <exec_depend>geometry_msgs</exec_depend>
  <exec_depend>message_runtime</exec_depend>


 

<!--  The export tag contains other unspecified tags --> 
  <export>
    <!--  Other tools can request additional information to be placed here -->

  </export>
</package>