14、 ROS meta function package

1、 Meta function pack

1. effect

When completing a systematic function , Different sub function packages may be involved , In order to improve the efficiency of installing function packs , stay ROS in , It provides a way to package different function packages into one function package , Directly call the packaged function package , This package becomes a meta function package (MetaPackage)

2. characteristic

This function package is a virtual package , There is no substantive function , But it relies on other software packages , Function packs can be combined in this way

3. Realization

1. modify package.xml file
   Add the dependent package name at the end of the file , stay export Add relevant content to the label ：

   <exec_depend>head_test</exec_depend>
   <exec_depend>service_test</exec_depend>
   <exec_depend>param_test</exec_depend>
   
   <!-- The export tag contains other, unspecified, tags -->
   <export>
       <metapackage /> // Be sure to add this statement 
   
   </export>
   </package>
   

2. modify CMakeLists.txt file
   CMakeLists.txt Only four lines are reserved in the file , The three lines come with the system , The last line is added by myself , And there must be no line breaks in the file

   cmake_minimum_required(VERSION 3.0.2)
   project(my_package)
   find_package(catkin REQUIRED)
   catkin_metapackage()