Instead of adding to ament_package, you can also add to the variable $_CONFIG_EXTRAS_POST While CONFIG_EXTRAS files are included before the files generated for the ament_export_* calls the files from CONFIG_EXTRAS_POST are included afterwards. cmake.in templates expanded by configure_file()) which should be available to clients of the package.įor an example of when to use these arguments, see the discussion in Adding resources.įor more information on how to use template files, see the official documentation.ĬONFIG_EXTRAS_POST: same as CONFIG_EXTRAS, but the order in which the files are added differs. Since ament_package() gathers a lot of information from the CMakeLists.txt it should be the last call in your CMakeLists.txt.Īlthough it is possible to follow calls to ament_package() by calls to install functions copying files and directories, it is simpler to just keep ament_package() the last call.Īment_package can be given additional arguments:ĬONFIG_EXTRAS: a list of CMake files (. The project setup is done by ament_package() and this call must occur exactly once per package.Īment_package() installs the package.xml, registers the package with the ament index, and installs config (and possibly target) files for CMake so that it can be found by other packages using find_package. ![]() The argument to project will be the package name and must be identical to the package name in the package.xml. The basic outline of the CMakeLists.txt of an ament package contains:Ĭmake_minimum_required ( VERSION 3.5 ) project ( my_project ) ament_package () The CMakeLists.txt contains the commands to build and package executables and libraries and will be the main focus of this document. The package.xml must contain all dependencies and a bit of metadata to allow colcon to find the correct build order for your packages, to install the required dependencies in CI as well as provide the information for a release with bloom. The basic build information is then gathered in two files: the package.xml and the CMakeLists.txt. ROS 2 Technical Steering Committee CharterĪ basic CMake outline can be produced using ros2 pkg create on the command line.On the mixing of ament and catkin (catment).Building ROS 2 with tracing instrumentation.Visualizing ROS 2 data with Foxglove Studio.Working with multiple ROS 2 middleware implementations. ![]() ![]() Passing ROS arguments to nodes via the command-line.Migrating YAML parameter files from ROS 1 to ROS 2.Using ROS 2 launch to launch composable nodes.Using Python, XML, and YAML for ROS 2 Launch Files.Migrating launch files from ROS 1 to ROS 2.Building a package with Eclipse 2021-06.Packaging your ROS 2 application as a snap.Recording and playing back data with rosbag using the ROS 1 bridge.Setting up efficient intra-process communication.Using quality-of-service settings for lossy networks.Setting up a robot simulation (Ignition Gazebo).Setting up a robot simulation (Advanced).Using Fast DDS Discovery Server as discovery protocol.Adding physical and collision properties.Building a visual robot model from scratch.Writing Basic Tests with C++ with GTest.Running Tests in ROS 2 from the Command Line. ![]()
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