ROS learning notes (6) -- function package encapsulated into Library and called

In the use of ROS When it comes to feature packs , A function package sometimes needs to call functions or class definitions in other function packages , Therefore, you need to package a function package into a library so that other function packages can call it

example ：A Function package call B Class of Feature Pack

1. take B Function packages are encapsulated as libraries

（1） modify CmakeLists.txt

add_library(lib_name  src/code.cpp)

（2） modify package.xml

 <export>
    <!-- Other tools can request additional information be placed here -->
    < cpp cflags="-I${prefix}/include" lflags="-L${prefix}/lib -lib_name"/ >
  </export>`

• code.cpp It's a source file ,lib_name For custom library names

2. A The function package calls the above libraries

（1） modify CmakeLists.txt

find_package(catkin REQUIRED COMPONENTS ... b_package)
catkin_package( ... CATKIN_DEPENDS ... b_package)

add_executable(A_code src/A_code.cpp)
target_link_libraries(A_code lib_name)

（2） modify package.xml

<build_depend>b_package</build_depend>
<exec_depend>b_package</exec_depend>

• b_package yes B The name of the Feature Pack , Note that the names used to find the function packs and link libraries are different .
• A Function pack called B Function pack ,B The function pack can no longer contain A Function pack , Otherwise cmake Will report a mistake