ros2+rviz2示例代码--cmakelists.txt与package.xml备份

cmake_minimum_required(VERSION 3.8)
project(gazebo_pkg)
set(CMAKE_PREFIX_PATH /usr;/opt/ros/humble)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(robot_state_publisher REQUIRED)
find_package(urdf_tutorial REQUIRED)
find_package(xacro REQUIRED)
find_package(rviz2 REQUIRED)
install(
  DIRECTORY  urdf launch etc
  DESTINATION share/${PROJECT_NAME}
)
if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()

<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
  <name>gazebo_pkg</name>
  <version>0.0.0</version>
  <description>TODO: Package description</description>
  <maintainer email="actorsun@todo.todo">actorsun</maintainer>
  <license>TODO: License declaration</license>

  <buildtool_depend>ament_cmake</buildtool_depend>

  <depend>robot_state_publisher</depend>
  <depend>urdf_tutorial</depend>
  <depend>xacro</depend>
  <depend>rviz2</depend>

  <test_depend>ament_lint_auto</test_depend>
  <test_depend>ament_lint_common</test_depend>

  <export>
    <build_type>ament_cmake</build_type>
  </export>
</package>

其中修改为如下也可以

<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
  <name>gazebo_pkg</name>
  <version>0.0.0</version>
  <description>TODO: Package description</description>
  <maintainer email="actorsun@todo.todo">actorsun</maintainer>
  <license>TODO: License declaration</license>

  <buildtool_depend>ament_cmake</buildtool_depend>

  <depend>robot_state_publisher</depend>
  <exec_depend>joint_state_publisher</exec_depend>
  <depend>xacro</depend>
  <depend>rviz2</depend>

  <test_depend>ament_lint_auto</test_depend>
  <test_depend>ament_lint_common</test_depend>

  <export>
    <build_type>ament_cmake</build_type>
  </export>
</package>

find_package 命令用法举例

• find_package(OpenCV)

  • 查找名为 OpenCV 的包，找不到不报错，事后可以通过 ${OpenCV_FOUND} 查询是否找到。

• find_package(OpenCV QUIET)

  • 查找名为 OpenCV 的包，找不到不报错，也不打印任何信息。

• find_package(OpenCV REQUIRED) # 最常见用法

  • 查找名为 OpenCV 的包，找不到就报错（并终止 cmake 进程，不再继续往下执行）。

• find_package(OpenCV REQUIRED COMPONENTS core videoio)

  • 查找名为 OpenCV 的包，找不到就报错，且必须具有 OpenCV::core 和 OpenCV::videoio 这两个组件，如果没有这两个组件也会报错。

• find_package(OpenCV REQUIRED OPTIONAL_COMPONENTS core videoio)

  • 查找名为 OpenCV 的包，找不到就报错，可具有 OpenCV::core 和 OpenCV::videoio 这两个组件，没有这两组件不会报错，通过 ${OpenCV_core_FOUND} 查询是否找到 core 组件。

find_package 说是找"包(package)"，到底是在找什么？