catkin_make 淺析

時間  2019-12-01
標籤 catkin make 淺析 简体版
原文   原文鏈接

引用自http://blog.csdn.net/zyh821351004/article/details/50388429

 

update:   catkin_tools

---------------------------------

Catkin Command Line Tools:   

Installing catkin_tools:      sudo apt-get install python-catkin-tools

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1.  catkin_make 與cmake的關係

    程序在cmake編譯是這樣的流程, cmake指令依據你的CMakeLists.txt 文件,生成makefiles文件,make再依據此makefiles文件編譯連接生成可執行文件.node

catkin_make是將cmake與make的編譯方式作了一個封裝的指令工具, 規範了工做路徑與生成文件路徑.python

1)  cmake標準流程 

 

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  1. # 在一個CMake項目裏  
  2. $ mkdir build  
  3. $ cd build  
  4. $ cmake ..  
  5. $ make  
  6. $ make install  # (可選)  

 

 

2) catkin_make 的流程

 

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  1. # In a catkin workspace  
  2. $ catkin_make  
  3. $ catkin_make install  # (可選)  
  4.   
  5.   
  6. 若是源碼不在默認工做空間,須要指定編譯路徑:  
  7.   
  8. # In a catkin workspace  
  9. $ catkin_make --source my_src  
  10. $ catkin_make install --source my_src  # (optionally)  

 

2 catkin_make

CMake coding standardsweb

CMake Variablesshell

1) catkin_make默認的路徑信息

 

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  1. 在catkin_make運行後終端輸出文件部分解析  
  2.   
  3. #基本路徑  
  4. Base path: /home/user/catkin_ws  
  5. Source space: /home/user/catkin_ws/src  
  6. Build space: /home/user/catkin_ws/build  
  7. Devel space: /home/user/catkin_ws/devel  
  8. Install space: /home/user/catkin_ws/install  
  9.   
  10.   
  11. #catkin_make 封裝運行中cmake運行的狀況  
  12. Running command: "cmake /home/user/catkin_ws/src -DCATKIN_DEVEL_PREFIX=/home/user/catkin_ws/devel   
  13. -DCMAKE_INSTALL_PREFIX=/home/user/catkin_ws/install" in "/home/user/catkin_ws/build"    
  14.   
  15. #編譯工具查找  
  16. -- Using CATKIN_DEVEL_PREFIX: /tmp/catkin_ws/devel  
  17. -- Using CMAKE_PREFIX_PATH: /opt/ros/groovy  
  18. -- This workspace overlays: /opt/ros/groovy  
  19.   
  20. #編譯的包  
  21. <pre name="code" class="cpp">#catkin_make 封裝運行中make運行的狀況  

#### Running command: "make -j4" in "/home/user/catkin_ws/build"


ubuntu

 

 

 
 

2)  layout :ros工做空間文件系統結構
 

 
 

 
 
 
  
 
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  1. workspace_folder/        --WORKSPACE  
    2.  
  
  2.   src/                   --SOURCE SPACE  
    3.  
  
  3.     CMakeLists.txt/      --This is symlinked to catkin/cmake/toplevel.cmake  
    4.  
  
  4.     package_1/  
    5.  
  
  5.       CMakeLists.txt  
    6.  
  
  6.       package.xml  
    7.  
  
  7.     ...  
    8.  
  
  8.     package_n/  
    9.  
  
  9.       CMakeLists.txt  
    10.  
  
  10.       package.xml  
    11.  
  
  11.   build/                 --BUILD SPACE(this is where build system is invoked, not necessarily within workspace)  
    12.  
  
  12.     CATKIN_IGNORE        --Marking the folder to be ignored when crawling for packages (necessary when source   
    13.  
  
  13.                             space is in the root of the workspace, the file is emtpy)  
    14.  
  
  14.                             #此選項可用於忽略某個包編譯  
    15.  
  
  15.  devel/                 --DEVEL SPACE (targets go here, parameterizable, but defaults to peer of Build Space)  
    16.  
  
  16.                            # 生成二值 庫 可執行文件   
    17.  
  
  17.     bin/  
    18.  
  
  18.     etc/  
    19.  
  
  19.     /include/  
    20.  
  
  20.     lib/  
    21.  
  
  21.     share/  
    22.  
  
  22.     .catkin              --Marking the folder as a development space (the file contains a semicolon separated list of Source space paths)  
    23.  
  
  23.                             #  
    24.  
  
  24.     env.bash  
    25.  
  
  25.     setup.bash  
    26.  
  
  26.     setup.sh  
    27.  
  
  27.     ...  
    28.  
  
  28.   install/               --INSTALL SPACE (this is where installed targets for test installations go, not necessarily within workspace)  
    29.  
  
  29.     bin/  
    30.  
  
  30.     etc/  
    31.  
  
  31.     include/  
    32.  
  
  32.     lib/  
    33.  
  
  33.     share/  
    34.  
  
  34.     .catkin              --Marking the folder as an install space (the file is emtpy)  
    35.  
  
  35.     env.bash  
    36.  
  
  36.     setup.bash    -- Environment setup file for Bash shell  
    37.  
  
  37.     setup.sh      -- Environment setup file for Bourne shell   
    38.  
  
  38.     ...  
    39.  
  
  39.   
    40.  
  
  40.   
    41.  
  
  41. /  
    42.  
  
  42.   opt/  
    43.  
  
  43.     ros/  
    44.  
  
  44.       groovy/  
    45.  
  
  45.         setup.bash -- Environment setup file for Bash shell  
    46.  
  
  46.         setup.sh   -- Environment setup file for Bourne shell  
    47.  
  
  47.         setup.zsh  -- Environment setup file for zshell  
    48.  
  
  48.         ...  
    49.  
 
 

 

工做空間api
 

 
 

源空間bash
 

編譯空間 ide
 

開發空間svn
 

安裝空間  -DCMAKE_INSTALL_PREFIX=/any/directorycmake默認是/usr/local
 

系統安裝空間         /opt/ros/ROSDISTRO
 

結果空間            source RESULT-SPACE/setup.sh             相似掃描安裝空間與開發空間,替換系統通用下的對應文件.
 

 
 

3) Overlays
 

catkin支持覆蓋.
 

catkin支持包的逐層覆蓋, 當前最高,其它依據source的順序逐層變高, 高層可覆蓋低層.  
 

 
 

 
 

 
 
 
  
 
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  1. Example 4: Overlaying workspace 3 on top of local workspace2 install space on top of workspace1 devel space on top of system install  
    2.  
  
  2.   
    3.  
  
  3. cd ~/workspace2/build  
    4.  
  
  4. cmake -DCMAKE_INSTALL_PREFIX=~/ws2_installed ../src  
    5.  
  
  5. make  
    6.  
  
  6. make install  
    7.  
  
  7.   
    8.  
  
  8. source ~/ws2_installed/setup.bash  
    9.  
  
  9.   
    10.  
  
  10. cd ~/workspace3/build  
    11.  
  
  11. cmake ../src  
    12.  
  
  12. make  
    13.  
 
 

 

  
 

ros 環境變量設置 能夠參考 .bashrc文件： ros工做環境設置
 

 
 

 
 
 
  
 
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  1. ######  slam_ws    
    2.  
  
  2. source /opt/ros/indigo/setup.bash    
    3.  
  
  3. source /home/yhzhao/slam_ws/devel/setup.bash    
    4.  
  
  4.     
    5.  
  
  5. export ROS_PACKAGE_PATH=~/slam_ws/src:$ROS_PACKAGE_PATH    
    6.  
  
  6. export ROS_WORKSPACE=~/slam_ws/src    
    7.  
 
 

 

 

 

 
 

 
 

4) 混合 Mixing catkin And rosbuild Workspaces
 

    catkin was designed to allow rosbuild packages to sit on top of catkin ones. This is accomplished by using overlays.
 

 
 
 
  
 
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  1. ~/rosbuild_ws/  
    2.  
  
  2.    dry_pkg1/  
    3.  
  
  3.    ...  
    4.  
  
  4.    dry_pkgN/  
    5.  
  
  5.    setup.bash  
    6.  
  
  6.    setup.sh  
    7.  
  
  7. ~/catkin_ws/  
    8.  
  
  8.    src/  
    9.  
  
  9.      wet_pkg1/  
    10.  
  
  10.      ...  
    11.  
  
  11.      wet_pkgN/  
    12.  
  
  12.    build/  
    13.  
  
  13.    devel/  
    14.  
  
  14.      setup.bash  
    15.  
  
  15.      setup.sh  
    16.  
  
  16.    install/  
    17.  
  
  17.      setup.bash   
    18.  
  
  18.      setup.sh   
    19.  
 
 

 

 
 

注:  咱們在系統文件夾下的 .bashrc 中加入相應的source文件,  就是爲了添加ros 的環境變量等信息.
 

Differences in CMakeLists.txt for rosbuild and catkin
 

 
 

5)  catkin_make 編譯指定的包.
 

$ catkin_make -DCATKIN_WHITELIST_PACKAGES="package1;package2"
 

恢復編譯全部的包
 

$ catkin_make -DCATKIN_WHITELIST_PACKAGES=""
 

 
 

3  catkin  
 

catkin/Tutorials
 

 
 

4.   package. xml  與  CMakeList. txt
 

4.1 package. xml 
 

catkin API docs.
 

每一個包的描述文件,都須要放置在包的根目錄下,對包的名字/版本/做者/維護者/依賴關係進行說明.與rosbuild中的manifest.xml類似.
 

依賴不正確在本地能夠能夠編譯經過,但不能在ROS社區正確工做起來.
 

4.1.1  格式
 

 
 

 
 
 
  
 
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  1. <package>  
    2.  
  
  2.   <name>foo_core</name>  
    3.  
  
  3.   <version>1.2.4</version>  
    4.  
  
  4.   <description>  
    5.  
  
  5.     This package provides foo capability.  
    6.  
  
  6.   </description>  
    7.  
  
  7.   <maintainer email="ivana@willowgarage.com">Ivana Bildbotz</maintainer>  
    8.  
  
  8.   <license>BSD</license>  
    9.  
  
  9.   
    10.  
  
  10.   <url>http://ros.org/wiki/foo_core</url>  
    11.  
  
  11.   <author>Ivana Bildbotz</author>  
    12.  
  
  12.   
    13.  
  
  13.   <buildtool_depend>catkin</buildtool_depend>  
    14.  
  
  14.   
    15.  
  
  15.   <depend>roscpp</depend>  
    16.  
  
  16.   <depend>std_msgs</depend>  
    17.  
  
  17.   
    18.  
  
  18.   <build_depend>message_generation</build_depend>  
    19.  
  
  19.   
    20.  
  
  20.   <exec_depend>message_runtime</exec_depend>  
    21.  
  
  21.   <exec_depend>rospy</exec_depend>  
    22.  
  
  22.   
    23.  
  
  23.   <test_depend>python-mock</test_depend>  
    24.  
  
  24.   
    25.  
  
  25.   <doc_depend>doxygen</doc_depend>  
    26.  
  
  26. </package>  
    27.  
 
 

 

 
 

 
 

C++ catkin library dependencies
 

 
 

6種依賴標籤
 

Build Dependencies     指出你的包編譯須要依賴的包.
 

Build Export Dependencies      指出你的包編譯導出庫 (???):   b依賴a的頭文件,要想c只依賴b.   我認爲是避免屢次依賴.
 

 
 
specify which packages are needed to build libraries against this package. This is the case when you transitively include their headers in public headers in this package (especially when these packages are declared as (CATKIN_)DEPENDS in catkin_package() in CMake).
 

 

Execution Dependencies   執行時依賴
 

Test Dependencies         單元測試
 

Build Tool Dependencies     編譯系統工具
 

Documentation Tool Dependencies      doc生成工具
 

 
 

 
 
 
  
 
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  1. <depend> specifies that a dependency is a build, export, and execution dependency. This is the most commonly used dependency tag.  
    2.  
  
  2. <buildtool_depend>  
    3.  
  
  3. <build_depend>  
    4.  
  
  4. <build_export_depend>  
    5.  
  
  5. <exec_depend>  
    6.  
  
  6. <test_depend>  
    7.  
  
  7. <doc_depend>http://write.blog.csdn.net/postedit/50388429  
    8.  
 
 

 

4.1.2 Metapackages   將多個包組合成一個邏輯包
 

 
 
 
  
 
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  1. <export>  
    2.  
  
  2.   <metapackage />  
    3.  
  
  3. </export>  
    4.  
 
 

 

 僅須要標籤:   <buildtool_depends> 依賴 catkin   和  <run_depend>

 

 
 

對應cmakelists.txt中
 

 
 

 
 
 
  
 
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  1. cmake_minimum_required(VERSION 2.8.3)  
    2.  
  
  2. project(<PACKAGE_NAME>)  
    3.  
  
  3. find_package(catkin REQUIRED)  
    4.  
  
  4. catkin_metapackage()  
    5.  
 
 

 

 
 

========例如 universal_robot======================================
 

 
 

 
 
 
  
 
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  1. <package>  
    2.  
  
  2.   <name>universal_robot</name>  
    3.  
  
  3.   <version>1.1.5</version>  
    4.  
  
  4.   <description>  
    5.  
  
  5.       Drivers, description, and utilities for Universal Robot Arms.  
    6.  
  
  6.   </description>  
    7.  
  
  7.   
    8.  
  
  8.   <maintainer email="aub@ipa.fhg.de">Alexander Bubeck</maintainer>  
    9.  
  
  9.   
    10.  
  
  10.   <license>BSD</license>  
    11.  
  
  11.   
    12.  
  
  12.   <url type="website">http://ros.org/wiki/universal_robot</url>  
    13.  
  
  13.   
    14.  
  
  14.   <author email="sedwards@swri.org">Shaun Edwards</author>  
    15.  
  
  15.   <author>Stuart Glaser</author>  
    16.  
  
  16.   <author email="kphawkins@gatech.edu">Kelsey Hawkins</author>  
    17.  
  
  17.   <author>Wim Meeussen</author>  
    18.  
  
  18.   <author email="fxm@ipa.fhg.de">Felix Messmer</author>  
    19.  
  
  19.   
    20.  
  
  20.   <buildtool_depend>catkin</buildtool_depend>  
    21.  
  
  21.   <run_depend>ur3_moveit_config</run_depend>  
    22.  
  
  22.   <run_depend>ur5_moveit_config</run_depend>  
    23.  
  
  23.   <run_depend>ur10_moveit_config</run_depend>  
    24.  
  
  24.   <run_depend>ur_bringup</run_depend>  
    25.  
  
  25.   <run_depend>ur_description</run_depend>  
    26.  
  
  26.   <run_depend>ur_driver</run_depend>  
    27.  
  
  27.   <run_depend>ur_gazebo</run_depend>  
    28.  
  
  28.   <run_depend>ur_kinematics</run_depend>  
    29.  
  
  29.   <run_depend>ur_msgs</run_depend>  
    30.  
  
  30.   
    31.  
  
  31.   <export>  
    32.  
  
  32.     <metapackage/>  
    33.  
  
  33.   </export>  
    34.  
  
  34. </package>  
    35.  
 
 

 

 
 

 
 

 
 

 
 
 
  
 
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  1. cmake_minimum_required(VERSION 2.8.3)  
    2.  
  
  2. project(universal_robot)  
    3.  
  
  3. find_package(catkin REQUIRED)  
    4.  
  
  4. catkin_metapackage()  
    5.  
 
 

 

 
 

4.2  CMakeLists.txt
 

cmak 不會找package.xml文件, 但catkin須要.  依據cmakelists.txt文件編譯須要清晰指出頭文件和庫文件的指向.  
 

 
 

Finding the library
 

 
 

須要在package.xml中使用標籤<depend> 或者<build_depend>
 

find_package(catkin REQUIRED COMPONENTS roscpp)
 

 
 

Include directories
 

 
 

include_directories(include ${catkin_INCLUDE_DIRS})
 

 
 

Exporting interfaces
 

 
 

須要在package.xml中使用<depend> 或者<build_export_depend>,catkin_package() 命令僅調用一次,它須要額外的參數依賴
 

於你的包導出的依賴.
 

catkin_package(CATKIN_DEPENDS angles roscpp std_msgs)
 

 
 

4.3  C++ 系統庫依賴
 

 
 

Finding the library  
 

 
 

1) 依據CMake module . 大部分的boost 庫在頭文件徹底實現,運行時不須要獨立的分享鏈接.
 

 
 

find_package(Boost REQUIRED)
 

但boost thread 運行時須要庫,必須指出組件thread .
 

 
 

 
 

find_package(Boost REQUIRED COMPONENTS thread)
 

find_package()以後就能夠用此編譯和鏈接了.  命名規則基本是這樣: ${name}_INCLUDE_DIRS and${name}_LIBRARIES .有時不遵循
 

 
 

camke社區標準命名的就請到到answers.ros.org發問.
 

 
 

2) cmake modules 無效狀況下,但庫開發包提供了pkg-config module . 編譯標籤
 

 
 

find_package(PkgConfig REQUIRED)
pkg_check_modules(GSTREAMER REQUIRED libgstreamer-0.10)
 

 
 

pkg_check_modules() 參數聲明瞭一個cmake前綴,GSTREAMER_INCLUDE_DIRS 和GSTREAMER_LIBRARIES
 

PkgConfig  編譯應用與鏈接的幫助工具. 用於命令行中插入正確的編譯選項. (.pc文件 )  libgstreamer-0.10.pc.
 

 
 

 
 

Include directories
 

 
 

 
 

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

若有依賴catkin 包 ,再添加 ${catkin_INCLUDE_DIRS}
 

 
 

 
 

 Exporting interfaces
 

 
 

catkin_package(DEPENDS Boost GSTREAMER)
 

確保全部的包在package.xml被用到,  <build_export_depend> 和<depend>標籤.
 

 
 

 
 

標準命名 ${name}_INCLUDE_DIRS and${name}_LIBRARIES . catkin包通常是小寫,大寫(asGSTREAMER) 或混合 (likeBoost)
 


 

4.4 編譯安裝 C++ libraries and headers
 

 
 

 
 

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

add_library(your_library libsrc1.cpp libsrc2.cpp libsrc_etc.cpp)
 

set(YOUR_LIB_SOURCES
    libsrc1.cpp
    libsrc2.cpp
    libsrc3.cpp
    libsrc4.cpp
    libsrc_etc.cpp)
add_library(your_library ${YOUR_LIB_SOURCES})
 

 
 

 
 

target_link_libraries(your_library ${catkin_LIBRARIES})
 

target_link_libraries(your_library
                      ${catkin_LIBRARIES}
                      ${Boost_LIBRARIES}
                      ${GSTREAMER_LIBRARIES})
 

catkin_package(CATKIN_DEPENDS std_msgs
               DEPENDS Boost
               INCLUDE_DIRS include
               LIBRARIES your_library)
 

<depend>std_msgs</depend>
<build_export_depend>boost</build_export_depend>
 


 

 
 

安裝
 

install(TARGETS your_library your_other_library
        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
        RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
 

 
 

 
 

install(DIRECTORY include/${PROJECT_NAME}/
        DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
 

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


 

 
 

4.5 編譯安裝 C++ 執行文件
 

 
 

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

add_executable(your_node src1.cpp src2.cpp src_etc.cpp)
 

set(${PROJECT_NAME}_SOURCES
    src/file1.cpp
    src/file2.cpp
    src/file3.cpp
    src/file4.cpp
    src/file5.cpp
    src/file6.cpp
    src/file_etc.cpp)
add_executable(your_node ${${PROJECT_NAME}_SOURCES})
 

add_executable(your_node ${${PROJECT_NAME}_SOURCES})
target_link_libraries(your_node ${catkin_LIBRARIES})
 

add_executable(your_node ${${PROJECT_NAME}_SOURCES})
target_link_libraries(your_node
                      ${catkin_LIBRARIES}
                      ${Boost_LIBRARIES}
                      ${GSTREAMER_LIBRARIES})
 

 
 

 
 

ros下的安裝,使得rosrun 與roslaunch可以使用.須要下面的方式安裝.
 

 
 

install(TARGETS your_node
        RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 


 

 
 

安裝 cmake文件
 

 
 

catkin_package(CFG_EXTRAS your_macros.cmake your_modules.cmake)
 

install(FILES cmake/your_macros.cmake cmake/your_modules.cmake
        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/cmake)
 

install(DIRECTORY cmake
        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
        PATTERN ".svn" EXCLUDE)
 

 
 

 
 

 
 

4.6  CMake coding standards
 

4.7   CMake Variables
 

CMake Useful Variables
 


 

 
 

 
 

參考:
 

http://wiki.ros.org/catkin
 

http://wiki.ros.org/catkin/commands/catkin_make
 

http://wiki.ros.org/cn/ROS/Tutorials/catkin/BuildingPackages
 

 
 

CMake coding standards
 

CMake Variables
 

 
 

CMake Useful Variables


        

            

        	





    

		

            
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