91 lines
3.0 KiB
Markdown
Executable File
91 lines
3.0 KiB
Markdown
Executable File
# ROS 2 Dependencies
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## Dependencies
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When I comes to adding packages and libraries to ROS 2 you will have to include them in the respective programs but they will also need to be added to the build files as dependencies. Doing this is just a little bit different in python and C++ so I will show both ways. You can import or include any library but for simplicity we will just use the `example_interface` library in this example
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## Python
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In python you only have to add the library to the `package.xml` like shown.
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```xml title="package.xml" hl_lines="10-11" linenums="1"
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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>my_py_pkg</name>
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<version>0.0.0</version>
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<description>TODO: Package description</description>
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<maintainer email="ros-laptop1@todo.todo">ros-laptop1</maintainer>
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<license>TODO: License declaration</license>
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<depend>rclpy</depend>
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<depend>example_interfaces</depend>
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<test_depend>ament_copyright</test_depend>
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<test_depend>ament_flake8</test_depend>
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<test_depend>ament_pep257</test_depend>
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<test_depend>python3-pytest</test_depend>
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<export>
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<build_type>ament_python</build_type>
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</export>
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</package>
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```
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## C++
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In C++ it is a little harder to add libraries to the build files. The first place to add the library is the `package.xml` just like in python.
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```xml title="package.xml" hl_lines="12-13" linenums="1"
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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>my_cpp_pkg</name>
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<version>0.0.0</version>
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<description>TODO: Package description</description>
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<maintainer email="ros-laptop1@todo.todo">ros-laptop1</maintainer>
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<license>TODO: License declaration</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<depend>rclcpp</depend>
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<depend>example_interfaces</depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>
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```
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Next you have to add the libraries to multiple places in the `CMakeLists.txt`.
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```cmake title="CMakeLists.txt" hl_lines="9-11 17 20" linenums="1"
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cmake_minimum_required(VERSION 3.8)
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project(my_cpp_pkg)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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# find dependencies
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find_package(ament_cmake REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(example_interfaces REQUIRED)
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add_executable(cpp_node src/my_first_node.cpp)
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ament_target_dependencies(cpp_node rclcpp)
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add_executable(robot_news_station src/robot_news_station.cpp)
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ament_target_dependencies(robot_news_station rclcpp example_interfaces)
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add_executable(smartphone src/smartphone.cpp)
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ament_target_dependencies(smartphone rclcpp example_interfaces)
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install(TARGETS
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cpp_node
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robot_news_station
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smartphone
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DESTINATION lib/${PROJECT_NAME}
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)
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ament_package()
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``` |