CMakeLists.txt 文件
為 CMake build 文件。是 CMake 編譯系統中軟件包的輸入。描述如何編譯代碼、安裝到哪里。

http://wiki.ros.org/catkin/CMakeLists.txt

CMakeLists.txt 格式：

1、Required CMake Version (cmake_minimum_required) 2、Package Name (project()) 3、Find other CMake/Catkin packages needed for build (find_package()) 4、Message/Service/Action Generators (add_message_files(), add_service_files(), add_action_files()) 5、Invoke message/service/action generation (generate_messages()) 6、Specify package build info export (catkin_package()) 7、Libraries/Executables to build (add_library()/add_executable()/target_link_libraries()) 8、Tests to build (catkin_add_gtest()) 9、Install rules (install())

1、CMake Version:
每一個 catkin CMakeLists.txt 必須以 CMake 需要的版本開始，Catkin 需要版本 2.8.3 或者更高

cmake_minimum_required(VERSION 2.8.3)

2、Package name:
CMake project function 指定的文件名。

project(robot_brain)

在 CMake script 文件中，引用 CMake package 可以使用變量 ${PROJECT_NAME}

3、依賴功能包：

尋找需要用到的其他 CMake packages，用函數 find_package。
至少依賴一個關于 catkin 的功能包

find_package(catkin REQUIRED)

如果要使用 C++ 和 Boost，則需要引用 find_package 包含 Boost，并且指明 Boost 的類型，如使用 Boost threads，則：

find_package(Boost REQUIRED COMPONENTS thread)

4、catkin_package()

catkin_package() 是 catkin 支持的 CMake 宏指令。用來向編譯系統指明 catkin-specific 的信息，而編譯系統來生成 pkg-config and CMake files。

該函數必須用在用 add_library() or add_executable() 聲明之前。
有5個可選參數：

INCLUDE_DIRS - The exported include paths (i.e. cflags) for the package LIBRARIES - The exported libraries from the project CATKIN_DEPENDS - Other catkin projects that this project depends on DEPENDS - Non-catkin CMake projects that this project depends on CFG_EXTRAS - Additional configuration options

例子：

catkin_package(INCLUDE_DIRS includeLIBRARIES ${PROJECT_NAME}CATKIN_DEPENDS roscpp nodeletDEPENDS eigen opencv)

5、Specifying Build Targets

目標文件有兩種：
1）、EXE 文件
2）、庫文件

目標命名：
注意：必須唯一
重命名用 set_target_properties() 函數,在編譯和安裝輸出中，把目標文件名 rviz_image_view 改為 image_view 如下：

set_target_properties(rviz_image_viewPROPERTIES OUTPUT_NAME image_viewPREFIX "")

自定義輸出路徑：

目標文件的默認路徑有時候必須改為自定義的路徑。自定義的路徑中，有一些默認的規則。如包含 Python bindings 的庫文件必須將路徑設置為 Python 的可 importable 文件夾。

set_target_properties(python_module_libraryPROPERTIES LIBRARY_OUTPUT_DIRECTORY ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_PYTHON_DESTINATION})

Include Paths and Library Paths

Include Paths - 頭文件路徑 Library Paths - 庫文件路徑 include_directories(<dir1>, <dir2>, ..., <dirN>) link_directories(<dir1>, <dir2>, ..., <dirN>)

include_directories() 的參數形如 *_INCLUDE_DIRS，變量為 find_package 路徑和其他需要包含的路徑。例如，使用 catkin and Boost ，形式如下

include_directories(include ${Boost_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})

link_directories() 用來加載外加的庫函數路徑。 catkin and CMake packages 是 find_packaged 時會自動加載鏈接信息。

link_directories(~/my_libs)

Executable Targets
將 src/main.cpp src/some_file.cpp src/another_file.cpp 編譯為文件 myProgram ：

add_executable(myProgram src/main.cpp src/some_file.cpp src/another_file.cpp)

Library Targets

添加默認共享庫

add_library(${PROJECT_NAME} ${${PROJECT_NAME}_SRCS})

target_link_libraries
用在 add_executable() 之后

add_executable(foo src/foo.cpp) add_library(moo src/moo.cpp) target_link_libraries(foo moo) -- This links foo against libmoo.so

6）、Messages, Services, and Action Targets

處理 messages, services, and actions 的宏有三個：

add_message_files add_service_files add_action_files

這些宏的后面必須有調用生成的宏

generate_messages()

這些宏必須在 catkin_package() 之前使用：

find_package(catkin REQUIRED COMPONENTS ...)add_message_files(...)add_service_files(...)add_action_files(...)generate_messages(...)catkin_package(...)...

必須為 CATKIN_DEPENDS 添加依賴項 message_runtime ：

catkin_package(...CATKIN_DEPENDS message_runtime ......)

必須 find_package 文功能包 message_generation，單獨或者作為 catkin 的組件。

find_package(catkin REQUIRED COMPONENTS message_generation)

另外，package.xml 需包含 build dependency on message_generation 和 runtime dependency on message_runtime。

如果目標文件包含其他目標文件，而這些目標文件需要 messages/services/actions 進行編譯，則需添加
add_dependencies(some_target ${catkin_EXPORTED_TARGETS})
some_target 是用 add_executable() 添加的目標的名字

如果你的功能包編譯 messages and/or services as well as executables 時需要用到這些宏，則
add_dependencies(some_target {{PROJECT_NAME}_EXPORTED_TARGETS})
some_target 是用 add_executable() 添加的目標的名字

如果你的功能包同時滿足上述條件，則
add_dependencies(some_target $PROJECTNAMEEXPORTEDTARGETS{catkin_EXPORTED_TARGETS})

例子：

msg：”MyMessage1.msg” and “MyMessage2.msg”
depend： std_msgs and sensor_msgs
srv： “MyService.srv”

# Get the information about this package's buildtime dependenciesfind_package(catkin REQUIREDCOMPONENTS message_generation std_msgs sensor_msgs)# Declare the message files to be builtadd_message_files(FILESMyMessage1.msgMyMessage2.msg)# Declare the service files to be builtadd_service_files(FILESMyService.srv)# Actually generate the language-specific message and service filesgenerate_messages(DEPENDENCIES std_msgs sensor_msgs)# Declare that this catkin package's runtime dependenciescatkin_package(CATKIN_DEPENDS message_runtime std_msgs sensor_msgs)# define executable using MyMessage1 etc.add_executable(message_program src/main.cpp)add_dependencies(message_program ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})# define executable not using any messages/services provided by this packageadd_executable(does_not_use_local_messages_program src/main.cpp)add_dependencies(does_not_use_local_messages_program ${catkin_EXPORTED_TARGETS})

如果，編譯 actionlib actions，需添加 actionlib_msgs 到 find_packaged 的關于 catkin 的組件中，并在 generate_messages(…) 之前添加如下代碼：

add_action_files(FILESMyAction.action )

7）、Unit Tests

catkin_add_gtest(myUnitTest test/utest.cpp)

8）、可選項：Installable Targets

CMake install() 函數參數

TARGETS - which targets to install ARCHIVE DESTINATION - Static libraries and DLL (Windows) .lib stubs LIBRARY DESTINATION - Non-DLL shared libraries and modules RUNTIME DESTINATION - Executable targets and DLL (Windows) style shared libraries

例子：

install(TARGETS ${PROJECT_NAME}ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} )

python包必須被安裝到能夠被引用的路徑

install(TARGETS python_module_libraryARCHIVE DESTINATION ${CATKIN_PACKAGE_PYTHON_DESTINATION}LIBRARY DESTINATION ${CATKIN_PACKAGE_PYTHON_DESTINATION} )

安裝 Python Executable Scripts

catkin_install_python(PROGRAMS scripts/myscriptDESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

安裝頭文件

install(DIRECTORY include/${PROJECT_NAME}/DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}PATTERN ".svn" EXCLUDE ) install(DIRECTORY include/DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}PATTERN ".svn" EXCLUDE )

安裝 roslaunch Files or Other Resources

install(DIRECTORY launch/DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launchPATTERN ".svn" EXCLUDE) # install moveit plugin description file install(FILES robot_moveit_plugins.xmlDESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}

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