ros中建立msg和srv檔案時,配置CMakeLists.txt檔案問題
阿新 • • 發佈:2019-02-16
作為一個ROS菜鳥,在按照ros wiki上的教程一步一步的走的過程中,在自己配置msg和srv檔案時,遇到了編譯的問題,分析問題,發現是package下的CMakeLists.txt檔案配置出現問題。
以下是建立並編譯一個新的package後生成的CMakeLists.txt檔案內容。
cmake_minimum_required(VERSION 2.8.3) project(chloe) ## Find catkin macros and libraries ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) ## is used, also find other catkin packages find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs) ## System dependencies are found with CMake's conventions # find_package(Boost REQUIRED COMPONENTS system) ## Uncomment this if the package has a setup.py. This macro ensures ## modules and scripts declared therein get installed # catkin_python_setup() ####################################### ## Declare ROS messages and services ## ####################################### ## Generate messages in the 'msg' folder # add_message_files( # FILES # Message1.msg # Message2.msg # ) ## Generate services in the 'srv' folder # add_service_files( # FILES # Service1.srv # Service2.srv # ) ## Generate added messages and services with any dependencies listed here # generate_messages( # DEPENDENCIES # std_msgs # ) ################################################### ## Declare things to be passed to other projects ## ################################################### ## 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( INCLUDE_DIRS include # LIBRARIES chloe # CATKIN_DEPENDS roscpp rospy std_msgs # DEPENDS system_lib ) ########### ## Build ## ########### ## Specify additional locations of header files include_directories(include ${catkin_INCLUDE_DIRS} ) ## Declare a cpp library # add_library(chloe # src/${PROJECT_NAME}/chloe.cpp # ) ## Declare a cpp executable # add_executable(chloe_node src/chloe_node.cpp) ## Add dependencies to the executable # add_dependencies(chloe_node ${PROJECT_NAME}) ## Specify libraries to link a library or executable target against # target_link_libraries(chloe_node # ${catkin_LIBRARIES} # ) ############# ## Install ## ############# ## Mark executable scripts (Python etc.) for installation ## not required for python when using catkin_python_setup() # install(PROGRAMS # scripts/my_python_script # DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} # ) ## Mark executables and/or libraries for installation # install(TARGETS chloe chloe_node # ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} # LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} # RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} # ) ## Mark cpp header files for installation # install(DIRECTORY include/${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.) # install(FILES # # myfile1 # # myfile2 # DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} # ) ############# ## Testing ## ############# ## Add gtest based cpp test target and link libraries # catkin_add_gtest(${PROJECT_NAME}-test test/test_chloe.cpp) # if(TARGET ${PROJECT_NAME}-test) # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) # endif() ## Add folders to be run by python nosetests # catkin_add_nosetests(test)
在建立的package中建立資料夾msg和srv,在這兩個資料夾下分別編輯.msg和.srv檔案。
例如:進入自己的workspace的package下的msg資料夾,利用gedit編輯msg檔案。命令如下:
cd ~/wry_ws/src/chloe/msg
gedit Num.msg
在Num.msg檔案中輸入以下內容並儲存:
string first_name
string last_name
以上就建立了一個msg檔案,下面是最關鍵的,需要確保msg檔案被轉換成為C++,Python和其他語言的原始碼。
配置步驟如下:
首先檢視Chloe功能包中的package.xml檔案中是否包含以下兩行,若沒有,就加上:
<build_depend>message_generation</build_depend>
<run_depend>message_runtime</run_depend>
下面利用gedit開啟CMakeLists.txt檔案,並對其中的需要修改及補充的內容進行說明。
#find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs)
在這裡,指明瞭構建chloe這個package,所依賴的包,因為要使用catkin編譯功能包,所以包含catkin,另外,在編譯所建立的msg檔案時,需要依賴message_generation,因此,去掉前面的註釋,並更改為:下面修改message_filesfind_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs message_generation )
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
去掉其中的註釋,並將Message1.msg
修改為自己建立的msg檔案的名字。本人的修改後的程式碼為:
add_message_files(
FILES
Num.msg
)
注意:如果建立了srv檔案,那麼就需要將# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
中# Service1.srv
# Service2.srv
改為自己建立的srv檔案的名字,並去掉註釋。
下面修改:
# generate_messages(
# DEPENDENCIES
# std_msgs
# )
需要將其註釋去掉,改為:
generate_messages(
DEPENDENCIES
std_msgs
)
最後,要確保自己運行了依賴:
catkin_package(
INCLUDE_DIRS include
# LIBRARIES chloe
# CATKIN_DEPENDS roscpp rospy std_msgs
# DEPENDS system_lib
)
這裡,需要新增message_runtime,並且依賴其他的package,改為:
catkin_package(
INCLUDE_DIRS include
LIBRARIES chloe
CATKIN_DEPENDS message_runtime
roscpp
rospy
std_msgs
DEPENDS system_lib
)
到此,檔案中需要配置和更改就完成了。由於重新配置了CMakeLists.txt檔案,因此需要對workspace盡心編譯。
需要注意的是:find_package(...)
add_message_files(...)
add_service_files(...)
generate_message(...)
catkin_package(...)
這幾項的先後順序不能發生變化。
下面利用rosmsg show filename.ms和rossrv show filename.srv檔案就可以檢視其中的內容。
注意:所有在msg資料夾下的.msg檔案都將轉換為ROS所支援的語言的原始檔。生成的C++標頭檔案將會放置在~/wry_ws/devel/include/chloe/。Python指令碼語言在~/wry_ws/devel/lib/python2.7/dist-package/chloe/下。