Ros2 pre basic tutorial | using cmakelists Txt compile ros2 node

The author of this series of tutorials ： Little fish
official account ： Fish fragrance ROS
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Teaching video address ： Small fish B standing
Full document address ： Fish fragrance ROS Official website
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Though through make call Makefile Compiling code is very convenient , But we still need to write by hand gcc Instructions to compile , Is there any way to automatically generate Makefile Well ？

The answer is yes , That's it cmake Tools .

cmake By calling CMakeLists.txt Directly generate Makefile.

1. install Cmake

sudo apt install cmake

2. newly build CMakeLists.txt

stay d2lros2/d2lros2/chapt2/basic newly build CMakeLists.txt, Type in the following .

cmake_minimum_required(VERSION 3.22)

project(first_node)

#include_directories  Add a specific header file search path  , It's equivalent to specifying g++ Compiler -I Parameters 
include_directories(/opt/ros/humble/include/rclcpp/)
include_directories(/opt/ros/humble/include/rcl/)
include_directories(/opt/ros/humble/include/rcutils/)
include_directories(/opt/ros/humble/include/rcl_yaml_param_parser/)
include_directories(/opt/ros/humble/include/rosidl_runtime_c/)
include_directories(/opt/ros/humble/include/rosidl_typesupport_interface/)
include_directories(/opt/ros/humble/include/rcpputils/)
include_directories(/opt/ros/humble/include/builtin_interfaces/)
include_directories(/opt/ros/humble/include/rmw/)
include_directories(/opt/ros/humble/include/rosidl_runtime_cpp/)
include_directories(/opt/ros/humble/include/tracetools/)
include_directories(/opt/ros/humble/include/rcl_interfaces/)
include_directories(/opt/ros/humble/include/libstatistics_collector/)
include_directories(/opt/ros/humble/include/statistics_msgs/)

# link_directories -  Add multiple specific library file search paths to the project , It's equivalent to specifying g++ Compiler -L Parameters 
link_directories(/opt/ros/humble/lib/)

# add_executable -  Generate first_node Executable file 
add_executable(first_node first_ros2_node.cpp)

# target_link_libraries -  by first_node( The goal is )  Add dynamic link library , Same as specified g++ compiler -l Parameters 
#  The following statement replaces  -lrclcpp -lrcutils
target_link_libraries(first_node rclcpp rcutils)

3. Compile code

We usually create a new directory , function cmake And compile , The advantage of this is that it won't seem so messy .

mkdir buildcd build

Create a folder , Then run cmake Instructions ,.. On behalf of the superior directory to find CMakeLists.txt.

cmake ..

Run out cmake You should be able to build See under directory cmake Automatically generated Makefile 了 , Then you can run make Instructions to compile

make

Run the above instructions , You can go to build Found in the directory first_node The node .

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