c++ - 如何在Ament Tool ROS中链接共享库

我正在使用ROS ament工具构建软件包。结构如下

LibA (build as shared library)

LibB (depends on LibA & build as shared library)

AppB (depends on LinB)

在LibB的package.xml中。我指定依赖为...

package.xml (under dir LibB)

<build_depend>libA</build_depend>

在AppB的package.xml中。我指定依赖为...

package.xml (under dir AppB)

<build_depend>libA</build_depend>
<build_depend>libB</build_depend>

现在构建顺序正确为..

# Topological order
 - libA
 - libB
 - AppB

现在，当构建AppB时问题开始了，并且找不到LibA和LibB的链接。

问题

如何将LibA链接到LibB？ (我应该使用什么语法)

如何将LibA，LibB链接到AppB？

最佳答案

也许您应该在LibA中使用ament_export，在ROS2中使用this page应该会有所帮助

# CMakeLists.txt for LibA
add_library(LibA SHARED src/LibA.cpp)
ament_target_dependencies(LibA rclcpp)
ament_export_interfaces(export_LibA HAS_LIBRARY_TARGET)
ament_export_libraries(LibA)
ament_export_include_directories(include)
ament_export_dependencies(
    ament_cmake
    rclcpp
)
install(
    TARGETS LibA
    EXPORT export_LibA
    LIBRARY DESTINATION lib/${PROJECT_NAME}
    ARCHIVE DESTINATION lib/${PROJECT_NAME}
    RUNTIME DESTINATION lib/${PROJECT_NAME}
)
install(
    DIRECTORY include/
    DESTINATION include
)

然后在LibB中的CMakeLists.txt中，您应该

# CMakeLists.txt for LibB
find_package(LibA REQUIRED)
add_library(LibB SHARED src/LibB.cpp)
target_include_directories(LibB PUBLIC
    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
    $<INSTALL_INTERFACE:include>
)
ament_target_dependencies(LibB
    rclcpp
    LibA
)
ament_export_libraries(LibB)
ament_export_include_directories(include)
ament_export_dependencies(
    rclcpp
    LibA
)
install(
    TARGETS LibB
    EXPORT export_LibB
    LIBRARY DESTINATION lib/${PROJECT_NAME}
    ARCHIVE DESTINATION lib/${PROJECT_NAME}
    RUNTIME DESTINATION lib/${PROJECT_NAME}
)
install(
    DIRECTORY include/
    DESTINATION include
)

要将CMakeLists.txt和LibA与LibB一起使用，我认为您需要将AppB和ament_target_dependencies用作参数，然后使用LibB函数
我认为您可以更改add_executable()的<build_depend>标签

关于c++ - 如何在Ament Tool ROS中链接共享库，我们在Stack Overflow上找到一个类似的问题：https://stackoverflow.com/questions/56560309/