ROS1和ROS2的CMakeList模板

一、ROS1（catkin）CMakeLists

① find_package()

find_package(catkin REQUIRED COMPONENTS
    roscpp
    mavros_msgs
    geometry_msgs
    tf
)
find_package(Eigen3 REQUIRED)

✔ 查找 ROS1 包
✔ 查找第三方库（Eigen）

②catkin_package + include_directories

catkin_package(
    CATKIN_DEPENDS roscpp mavros_msgs geometry_msgs tf
    INCLUDE_DIRS include
    LIBRARIES mavros_controller
)

include_directories(
    include
    ${catkin_INCLUDE_DIRS}
    ${EIGEN3_INCLUDE_DIRS}
)

✔ catkin_package：导出包信息给别人用
✔ include_directories：当前包自己需要的头文件

③ add_library + add_executable

add_library(${PROJECT_NAME}
    src/mavros_controller.cpp
)

add_executable(controller_node
    src/controller_node.cpp
)

✔ 一个生成库
✔ 一个生成节点可执行文件

④ install()

install(TARGETS controller_node
    RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

install(TARGETS ${PROJECT_NAME}
    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
)

install(DIRECTORY include/
    DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
)

✔ 安装可执行文件
✔ 安装库
✔ 安装头文件

二、ROS2（ament）CMakeLists

① find_package()

find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(mavros_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(Eigen3 REQUIRED)

✔ 必须放在最前
✔ ROS2 包依赖结构更清晰

② add_library + add_executable

add_library(${PROJECT_NAME}
    src/mavros_controller.cpp
)

add_executable(controller_node
    src/controller_node.cpp
)

✔ 与 ROS1 相同：一个库一个节点
✔ 顺序可以互换

③ target_link_libraries + ament_target_dependencies

(1) 链接库（你自己写的库）

target_link_libraries(controller_node
    ${PROJECT_NAME}
)

(2) 添加依赖包（类似 include + link）

ament_target_dependencies(controller_node
    rclcpp
    mavros_msgs
    geometry_msgs
)

✔ “库依赖”与“包依赖”必须分离
✔ 这点是你最容易混淆和提问最多的内容：

ament_target_dependencies ≠ target_link_libraries
一个解决“包依赖”，一个解决“库链接”

④ install()

install(TARGETS
    ${PROJECT_NAME}
    controller_node
    DESTINATION lib/${PROJECT_NAME}
)

install(DIRECTORY include/
    DESTINATION include
)

ament_package()   # 必须最后

✔ 安装位置与 ROS1 不同
✔ ament_package() 一定要放在最后（你曾提问顺序是否可换）

三、踩坑记录

(1) 为什么 ROS2 有 target_link_libraries + ament_target_dependencies？

因为：

• ament_target_dependencies: 负责 包依赖
• target_link_libraries: 负责 目标库链接（你自己的库）

两者解决不同层面的问题，不能互相取代

(2) ROS2 为什么不直接用 include_directories？

• 因为 target_include_directories 是现代 CMake 推荐写法
• ament_target_dependencies 会自动添加包的 include 路径
• 只有你自己的 include/ 需要手动写：

target_include_directories(${PROJECT_NAME}
    PUBLIC include
)

“为什么不能像 ROS1 那样写 include_directories？”
→ 因为 modern CMake 不推荐，且 TARGET 作用范围更明确。

(3) ROS2 的顺序能否随便写？

1. find_package() 必须在最前
2. 作用于某个 target 的设置必须写在 target 之后
3. ament_package() 必须最后

其他顺序基本可以随意。

四、总结

ROS1 ：三找、两包、两编译、一安装

三找(find_package)
两包(catkin_package + include_directories)
两编译(add_library + add_executable)
一安装(install)

ROS2 ：三找 → 两建 → 两绑 → 一安装

三找(find_package)
两建(add_library + add_executable)
两绑(target_link_libraries + ament_target_dependencies)
一安装(install + 最后 ament_package)

五、ROS1和ROS2的CMakelist模板：

目录结构：

mavros_controller/
├── CMakeLists.txt
├── include/mavros_controller/mavros_controller.h
└── src/
    ├── mavros_controller.cpp
    └── controller_node.cpp

ROS1的CMakeLists.txt 模板

cmake_minimum_required(VERSION 3.0.2)
project(mavros_controller)

## ----------------------------------------
## 1. 编译选项
## ----------------------------------------
add_compile_options(-Wall -Wextra -Wpedantic -std=c++14)

## ----------------------------------------
## 2. 找依赖
## ----------------------------------------
find_package(catkin REQUIRED COMPONENTS
    roscpp
    mavros_msgs
    geometry_msgs
    tf
)

find_package(Eigen3 REQUIRED)

## ----------------------------------------
## 3. 打包导出
## ----------------------------------------
catkin_package(
    INCLUDE_DIRS include
    LIBRARIES mavros_controller
    CATKIN_DEPENDS roscpp mavros_msgs geometry_msgs tf
)

## ----------------------------------------
## 4. 头文件目录
## ----------------------------------------
include_directories(
    include
    ${catkin_INCLUDE_DIRS}
    ${EIGEN3_INCLUDE_DIRS}
)

## ----------------------------------------
## 5. 编译库
## ----------------------------------------
add_library(${PROJECT_NAME}
    src/mavros_controller.cpp
)

## 链接库
target_link_libraries(${PROJECT_NAME}
    ${catkin_LIBRARIES}
)

## ----------------------------------------
## 6. 编译节点
## ----------------------------------------
add_executable(controller_node
    src/controller_node.cpp
)

target_link_libraries(controller_node
    ${PROJECT_NAME}
    ${catkin_LIBRARIES}
)

## ----------------------------------------
## 7. 安装
## ----------------------------------------
install(TARGETS ${PROJECT_NAME} controller_node
    RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
)

install(DIRECTORY include/
    DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
)

ROS2的CMakeLists.txt 模板

cmake_minimum_required(VERSION 3.8)
project(mavros_controller)

## ----------------------------------------
## 1. 编译选项
## ----------------------------------------
add_compile_options(-Wall -Wextra -Wpedantic -std=c++17)

## ----------------------------------------
## 2. 找依赖
## ----------------------------------------
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(mavros_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(Eigen3 REQUIRED)

## ----------------------------------------
## 3. 建库
## ----------------------------------------
add_library(${PROJECT_NAME}
    src/mavros_controller.cpp
)

## 头文件目录
target_include_directories(${PROJECT_NAME}
    PUBLIC
        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
        $<INSTALL_INTERFACE:include>
        ${EIGEN3_INCLUDE_DIRS}
)

## 绑定依赖
ament_target_dependencies(${PROJECT_NAME}
    rclcpp
    mavros_msgs
    geometry_msgs
    tf2
    tf2_ros
)

## ----------------------------------------
## 4. 建节点
## ----------------------------------------
add_executable(controller_node
    src/controller_node.cpp
)

target_include_directories(controller_node
    PUBLIC
        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
        ${EIGEN3_INCLUDE_DIRS}
)

## 绑定依赖
ament_target_dependencies(controller_node
    rclcpp
    mavros_msgs
    geometry_msgs
    tf2
    tf2_ros
)

## 节点需要链接库
target_link_libraries(controller_node
    ${PROJECT_NAME}
)

## ----------------------------------------
## 5. 安装
## ----------------------------------------
install(TARGETS
    ${PROJECT_NAME}
    controller_node
    DESTINATION lib/${PROJECT_NAME}
)

install(
    DIRECTORY include/
    DESTINATION include
)

## ----------------------------------------
## 6. ament 收工
## ----------------------------------------
ament_package()