ros-Qt代碼環境的搭建

1 創建package

catkin_create_pkg beginner_tutorials roscpp

2 導入Qt

Qt中打開整個工做空間的src/CMakeLists.txt 在倒數第二行最後加入，最後一行include是爲了寫代碼時候智能提示

FILE(GLOB children ${CMAKE_SOURCE_DIR}/*)
FOREACH(child ${children})
  IF(IS_DIRECTORY ${child})
    file(GLOB_RECURSE dir_files "${child}/*")
    LIST(APPEND extra_files ${dir_files})
  ENDIF()
ENDFOREACH()
add_custom_target(dummy_${PROJECT_NAME} SOURCES ${extra_files})

include_directories(/home/xiaophuang/catkin_ws/devel/include)

右鍵點擊project，執行run cmake,輸入的參數是-DCMAKE_BUILD_TYPE=Debug
這樣workspace下面的全部非空文件夾都會被導入

3 添加文件，文件夾

在package下新建一個srv文件夾（在Qt下面好像不能建文件夾，在外面創建文件夾）

在Qt下新建一個AddTwoInts.srv文件放在srv文件夾下面，輸入

int64 a
int64 b
----
int64 sum

修改package.xml，CMakeLists.txt

測試一下

rossrv  show beginner_tutorials/AddTwoInts

4， Debug

要是按F5提示(注意不要選錯要調試的程序)

This does not seem to be a "Debug" build.
Setting breakpoints by file name and line number may fail.

Section .debug_info: Not found.
Section .debug_abbrev: Not found.
Section .debug_line: Not found.
Section .debug_str: Not found.
Section .debug_loc: Not found.
Section .debug_range: Not found.
Section .gdb_index: Not found.
Section .note.gnu.build-id: Found.
Section .gnu.hash: Found.
Section .gnu_debuglink: Not found.

打開projects, run cmake 輸入-DCMAKE_BUILD_TYPE=Debug

設置斷點，