ros_catkin编译系统

Catkin

ROS对CMake进行了扩展，便有了Catkin编译系统

Catkin_make结构

Catkin_make编译流程

create work space

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin_make

build

cd ~/catkin_ws
catkin_make
source ~/catkin_ws/devel/setup.bash # 编译完后需要 source 刷新环境

Catkin_make 文件系统

默认包含 src build devel ;

• src 源代码包；
• build catkin(Cmake) 的缓存信息和中间文件
• devel 生成的目标文件（包括头文件，动态链接库，静态链接库，可执行文件）、环境变量
• package是catkin工作空间的基本单元

catkin_make指令

• 构建〜/ catkin_ws / src中的所有packages

cd〜/ catkin_ws
catkin_make

等效于

cd〜/ catkin_ws
cd src
catkin_init_workspace
cd ..
mkdir build
cd build
cmake ../src -DCMAKE_INSTALL_PREFIX = .. / install -DCATKIN_DEVEL_PREFIX = .. / devel

• build所有packages

catkin_make -DCATKIN_WHITELIST_PACKAGES =“”

• build特定的package

catkin_make -DCATKIN_WHITELIST_PACKAGES =“ package1; package2”

Package