ROS知識（13）----基於catkin的包安裝

ROS軟件包開發完成后，需要安裝包，如果你用的是catkin創建的工作空間，那么即可使用命令"catkin_make install"完成此項任務．下面介紹其安裝的過程：

 

１.源碼准備

准備好需要安裝的代碼，通常可以使用catkin來創建工作空間，包和編譯整個項目．本例子假定工作空間為catkin_ws，包名為package_install．目錄如下圖所示：

 

 

 

 

 

 

 

 

 

 

 

 

 

２.編輯CMakeLists.txt

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

#############
## 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}
 )

## 添加可執行文件或者庫文件，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}
 )

## 添加頭文件．Mark cpp header files for installation
 install(DIRECTORY include/${PROJECT_NAME}/
   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
   FILES_MATCHING PATTERN "*.h"
   PATTERN ".svn" EXCLUDE
 )
## 添加資源文件的目錄，例如文件夾：urdf mesh rviz，其下的所有子目錄的文件也會安裝到相應的目錄下．
 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}
    )
    
## 添加資源文件．Mark other files for installation (e.g. launch and bag files, etc.)
 install(FILES
   launch/bringup.launch
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
 )

 

３．編譯

打開命令終端,到catkin_ws目錄下，執行如下命令：

catkin_make install

安裝的文件會生成在目錄catkin_ws/install下．目錄的結構如下圖所示

 

４．運行

a.首先，可將install整個文件夾隨意拷貝到一個目錄下；然后，打開命令終端,到該目錄install下，執行如下命令：

source devel/setup.bash

b.打開命令終端，運行程序，執行如下命令：

roslaunch package_install bringup.launch

這樣就可以把安裝的程序跑起來了．

 

５．源碼

源碼下載：catkin_ws.rar