Required CMake Version (cmake_minimum_required)
Package Name (project())
Find other CMake/Catkin packages needed for build (find_package())
Message/Service/Action Generators (add_message_files(), add_service_files(), add_action_files())
Invoke message/service/action generation (generate_messages())
Specify package build info export (catkin_package())
Libraries/Executables to build (add_library()/add_executable()/target_link_libraries())
Tests to build (catkin_add_gtest())
Install rules (install())
版本 cmake_minimun_required(version 2.8.3) 包含项目名 project(beginner_tutorials) 寻找依赖的包 find_package(catkin REQUIRED) 至少依赖catkin（必要的） 以下可选包元素 find_package(catkin REQUIRED COMPONENTS rospy roscpp std_msgs) 上述写法的另一种形式 find_package(catkin REQUIRED) find_package(rospy REQUIRED) find_package(roscpp REQUIRED) find_package(std_msgs REQUIRED) if you using C++ and Boost: find_package(Boost REQUIRED COMPONENTS thread) catkin包 是cmake的宏 catkin_package()有五个可选属性 catkin_package( INCLUDE_DIRS include LIBRARIES ${PROJECT_NAME} CATKIN_DEPENDS roscpp nodelet # 比较重要的一条属性 DEPENDS eigen opencv) 输出目标文件名替换 set_target_properties(rviz_image_view PROPERTIES OUTPUT_NAME image_view PREFIX "")从rviz_image_view修改为image_view 设置自己的输出目录 set_target_properties(python_module_library PROPERTIES LIBRARY_OUTPUT_DIRECTORY ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_PYTHON_DESTINATION}) include_directories()The argument to include_directories should be the *_INCLUDE_DIRS variables generated by your find_package calls and any additional directories that need to be included. If you are using catkin and Boost,即
catkin_INCLUDE_DIRS Boost_INCLUDE_DIRS
include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
可执行目标必须建立
add_executable(myProgram src/main.cpp src/some_file.cpp src/another_file.cpp) 项目名 + 源文件
# add_library(${PROJECT_NAME} ${${PROJECT_NAME}_SRCS})
add_library(moo src/moo.cpp)
链接 target_link_libraries（）
语法： target_link_libraries(<executableTargetName>, <lib1>, <lib2>, ... <libN>)
example：
add_executable(foo src/foo.cpp) add_library(moo src/moo.cpp) target_link_libraries(foo moo) -- This links foo against libmoo.sofor python 参考：http://docs.ros.org/api/catkin/html/howto/format2/installing_python.html
