c++ - ROS C++ catkin 找不到我的自定义消息

Question

编译器提示未找到消息 (.../message.h)。请参阅下面我的 CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(my_package)
add_compile_options(-std=c++11)


find_package(catkin REQUIRED
  COMPONENTS cv_bridge
  image_transport
  roscpp
  #rospy
  sensor_msgs
  std_msgs
  message_generation
  genmsg
  external_package
  )
find_package(nodelet REQUIRED)


#----
add_message_files( FILES
  my_message1.msg
  my_message2.msg

  )

generate_messages( DEPENDENCIES
  std_msgs sensor_msgs
  )

catkin_package(
  CATKIN_DEPENDS  message_runtime std_msgs sensor_msgs roscpp cv_bridge image_transport
  )



#******     EXTRA PACKAGES
find_package(LAPACK REQUIRED)
find_package(BLAS REQUIRED)
find_package( PkgConfig REQUIRED)
FIND_PACKAGE(Boost)
find_package( OpenCV )
include_directories(${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS} )

SET(MY_FLAG ok) # OR no!!

if(MY_FLAG)
#**** exe files
set(exefiles
  file1
  file2
  )

foreach(file ${exefiles})
  add_executable(${file} ${CMAKE_CURRENT_SOURCE_DIR}/pathToExeFiles/${file}.cpp ) 
endforeach(file)


#******  Lib & link
include_directories(${SRC}/pathToMyLib)
set(MY_LIB
  lib1
  lib2
  libn
  )
endif(MY_FLAG)

foreach(file ${exefiles})
  target_link_libraries(${file2link} 
    ${MY_LIB} 
    ${MY_LIB} 
    ${MY_LIB} 
    ${catkin_LIBRARIES}
    ${Boost_LIBRARIES}
    ${gsl_LIBRARIES} ${LAPACK_LIBRARIES} ${BLAS_LIBRARIES}
    ${OpenCV_LIBRARIES}
    )

  add_dependencies(${file} external_package_generate_messages_cpp  ${${my_package}_EXPORTED_TARGETS})
endforeach(file)


ADD_SUBDIRECTORY(src)

但是，我可以使用以下技巧进行编译。我首先将 My_FLAG 设置为 flase 并编译。接下来，我将其设置回 true 并再次编译。通过这样做它工作正常。但是......我猜应该有一个更优雅/专业/直接的解决方案。到目前为止，我无法检测到此问题的原因。请问有什么解决办法吗？

我认为这个问题与依赖关系的顺序有关……哪个？不知道...

Answer 1

看起来您的 EXPORTED_TARGETS 依赖项是错误的。

add_dependencies(${file} external_package_generate_messages_cpp  ${${my_package}_EXPORTED_TARGETS})

${${my_package}_EXPORTED_TARGETS} 应该是 ${${PROJECT_NAME}_EXPORTED_TARGETS} 或 ${my_package_EXPORTED_TARGETS}/p>

所以:

add_dependencies(${file} external_package_generate_messages_cpp  ${${PROJECT_NAME}_EXPORTED_TARGETS})

如果依赖 ${catkin_EXPORTED_TARGETS} 可能会有所帮助。