catkin_package 对比 find_package

Question

在文件 CMakelists.txt 中我看到 find_packages 和 catkin_package:

find_package(catkin REQUIRED COMPONENTS roscpp rospy
image_transport std_msgs message_generation sensor_msgs
geometry_msgs )

catkin_package( CATKIN_DEPENDS message_runtime std_msgs sensor_msgs geometry_msgs )

这两者有什么区别？

教程里的每一件事我都试着看了一遍，但还是不够清楚。

Answer 1

答案基本上由CMakeLists.txt中自动生成的评论给出：

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS ...

和

## 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(...

find_package 命令是常用的 cmake，需要它来加载 catkin 宏并指定对其他 ROS 包的依赖关系。

catkin_package 命令是这些 catkin 宏之一。它负责包的特定于 ROS 的配置。所以这是区分 ROS 包和普通 cmake 项目的重要部分。我不知道细节，但我猜它是，例如，负责设置 catkin 工作区的正确构建路径。
当其他 ROS 包依赖于此包时，此处给出的参数（即依赖项）很重要。

Answer 2

Found another answer here:

find_package() finds dependencies for this package.

catkin_package(CATKIN_DEPENDS) declares dependencies for packages that depend on this package.

因此在您的示例中，依赖于您的包的任何包都需要以下依赖项：

message_runtime
std_msgs
sensor_msgs
geometry_msgs

catkin_package 对比 find_package

catkin_package vs. find_package

ros

catkin