ROS知识（13）----基于catkin的包安装

时间：2022-07-15 13:34:09

ROS软件包开发完成后，需要安装包，如果你用的是catkin创建的工作空间，那么即可使用命令"catkin_make install"完成此项任务．下面介绍其安装的过程：

１.源码准备

准备好需要安装的代码，通常可以使用catkin来创建工作空间，包和编译整个项目．本例子假定工作空间为catkin_ws，包名为package_install．目录如下图所示：

ROS知识（13）----基于catkin的包安装

２.编辑CMakeLists.txt

打开package/CMakeLists.txt，在文件末尾添加添加如下的代码：

#############

## Install ##

#############

# all install targets should use catkin DESTINATION variables

# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation

## 添加python程序．in contrast to setup.py, you can choose the destination

 install(PROGRAMS

   scripts/talker.py

   scripts/listener.py

   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}

 )

## 添加可执行文件或者库文件，Mark executables and/or libraries for installation

 install(TARGETS talker_node listener_node

   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}

   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}

   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}

 )

## 添加头文件．Mark cpp header files for installation

 install(DIRECTORY include/${PROJECT_NAME}/

   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}

   FILES_MATCHING PATTERN "*.h"

   PATTERN ".svn" EXCLUDE

 )

## 添加资源文件的目录，例如文件夹：urdf mesh rviz，其下的所有子目录的文件也会安装到相应的目录下．

 install(DIRECTORY model

            DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}

    )

 install(DIRECTORY urdf

            DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}

    )

 install(DIRECTORY mesh

            DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}

    )

 install(DIRECTORY rviz

            DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}

    )

## 添加资源文件．Mark other files for installation (e.g. launch and bag files, etc.)

 install(FILES

   launch/bringup.launch

   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch

 )

３．编译

打开命令终端,到catkin_ws目录下，执行如下命令：

catkin_make install

安装的文件会生成在目录catkin_ws/install下．目录的结构如下图所示

ROS知识（13）----基于catkin的包安装

４．运行

a.首先，可将install整个文件夹随意拷贝到一个目录下；然后，打开命令终端,到该目录install下，执行如下命令：

source devel/setup.bash

b.打开命令终端，运行程序，执行如下命令：

roslaunch package_install bringup.launch

这样就可以把安装的程序跑起来了．

５．源码

源码下载：catkin_ws.rar

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