在ROS開發中經常要定義動態庫供其他包呼叫。分享一下，在ROS中建立和使用動態庫的經驗。
一、建立動態庫
1.建立名為lib_test的ROS包，依賴roscpp
catkin_create_pkg lib_test roscpp
2.添加動態庫的表頭檔libheader.h，其他包使用該庫時需要參照
#ifndef LIBHEADER_H
#define LIBHEADER_H
int
LibFunc
(
int
a
,
int
b
);
#endif
// LIBHEADER_H
3.添加動態庫的實作檔libmain.cpp
#include
"lib_test/libheader.h"
#include
<ros/ros.h>
int
LibFunc
(
int
a
,
int
b
){
ROS_INFO
(
"LibFunc is called %d"
,
a
+
b
);
return
a
+
b
;
}
4.修改CMakelist.txt檔幾處關鍵配置，將lib_test包編譯為一個動態庫
#添加要編譯的檔
file
(
GLOB_RECURSE
SRCS
*.cpp
)
set
(
SOURCE_FILES
${
SRCS
}
)
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package
(
INCLUDE_DIRS
include
#對外釋出動態庫的表頭檔（這裏配錯其他包將無法參照）
LIBRARIES
lib_test
#對外釋出動態庫庫名（這裏配錯其他包將無法參照）
# CATKIN_DEPENDS roscpp
# DEPENDS system_lib
)
#自身編譯需要的表頭檔目錄
include_directories
(
# include
${
catkin_INCLUDE_DIRS
}
${
CMAKE_CURRENT_SOURCE_DIR
}
/include
)
#將本包編譯成動態庫
add_library
(
${
PROJECT_NAME
}
${
SOURCE_FILES
}
)
target_link_libraries
(
${
PROJECT_NAME
}
${
catkin_LIBRARIES
}
)
5.目錄結構如下
lib_test/
├── CMakeLists.txt
├── include
│ └── lib_test
│ └── libheader.h
├── package.xml
└── src
└── libmain.cpp
二、使用動態庫
1.建立名為uselib的ROS包，依賴roscpp和上面建立的libtest包
catkin_create_pkg use_lib roscpp lib_test
2.修改CMakelist.txt檔幾處關鍵配置，添加對libtest動態庫的依賴
#添加要編譯的檔
file
(
GLOB_RECURSE
SRCS
*.cpp
)
set
(
SOURCE_FILES
${
SRCS
}
)
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package
(
# INCLUDE_DIRS include
# LIBRARIES use_lib
CATKIN_DEPENDS
lib_test
roscpp
#添加對lib_test動態庫的依賴
# DEPENDS system_lib
)
#自身編譯需要的表頭檔目錄
include_directories
(
# include
${
catkin_INCLUDE_DIRS
}
${
CMAKE_CURRENT_SOURCE_DIR
}
/include
)
#將本包編譯成可執行檔
add_executable
(
${
PROJECT_NAME
}
${
SOURCE_FILES
}
)
target_link_libraries
(
${
PROJECT_NAME
}
${
catkin_LIBRARIES
}
)
3.添加使用動態庫的實作檔main.cpp
#include
"lib_test/libheader.h"
#include
<ros/ros.h>
int
main
(
int
argc
,
char
**
argv
){
int
result
=
LibFunc
(
1
,
2
);
ROS_INFO
(
"result = %d"
,
result
);
}
4.目錄結構如下
use_lib/
├── CMakeLists.txt
├── include
│ └── use_lib
├── package.xml
└── src
└── main.cpp
三、編譯執行結果
catkin build lib_test
catkin build use_lib
source
devel/setup.bash
rosrun use_lib use_lib
[
INFO]
[
1636106179.816962716]
: LibFunc is called 3
[
INFO]
[
1636106179.816992236]
: result
=
3
