executable - devel 中未生成 ROS catkin_make 可执行文件

Question

我创建了一个 ROS 包并将相关行添加到 CMakeLists.txt 以创建一个可执行文件。

add_executable(exe_name src/file.cpp)
target_link_libraries(exe_name $LIBRARIES)

当我在工作区的根目录中运行 catkin_make 时，可执行文件会在 WORKSPACE/build/PACKAGE_NAME/ 中生成而不是在

WORKSPACE/devel/lib/PACKAGE_NAME/

现在的问题是，当我运行 rosrun PACKAGE_NAME exe_name 时，找不到可执行文件名称 (exe_name)。知道为什么会发生这种情况吗？

编辑 - 添加了完整的 CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(flea3ros)


find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  sensor_msgs
  cv_bridge
  image_transport
)
find_package(OpenCV 2)

include_directories(
  ${catkin_INCLUDE_DIRS}
  ${OpenCV_INCLUDE_DIRS}
  /usr/include/flycapture
)
add_executable(flea3syncros src/asyncRos.cpp)
add_executable(flea3ros src/GigEGrabEx.cpp)
add_executable(flea3config src/GigEConfig.cpp)
add_executable(saveImages src/save_images.cpp)
target_link_libraries(flea3ros ${catkin_LIBRARIES} ${OpenCV_LIBS} flycapture)
target_link_libraries(flea3syncros ${catkin_LIBRARIES} ${OpenCV_LIBS} flycapture)
target_link_libraries(flea3config ${catkin_LIBRARIES} ${OpenCV_LIBS} flycapture)
target_link_libraries(saveImages  ${catkin_LIBRARIES} ${OpenCV_LIBS})

Answer 1

您的 CMakeLists.txt 中缺少 catkin_package 宏。在 find_package 部分之后添加:

###################################
## 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 you 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 compute_cdist
#  CATKIN_DEPENDS roscpp visualization_msgs robot_model_helper compute_cdist
#  DEPENDS assimp Eigen mlpack
)

(当然你可以删除评论，我只是复制了整个 block 以便包含描述)