ros学习笔记3——catkin详解与catkin_make编译

迈不过友情╰ 2022-08-29 10:26 187阅读 0赞

[http://wiki.ros.org/catkin/commands/catkin\_make][http_wiki.ros.org_catkin_commands_catkin_make]

[很不错的文章][Link 1]  
3、[【课程：古月居】古月·ROS入门21讲 | 一学就会的ROS机器人入门教程][ROS_21_ _ _ROS]

# 1. catkin编译系统 #

对于源代码包，我们只有编译才能在系统上运行。而Linux下的编译器有gcc、g++，随着源文件的增加，直接用gcc/g++命令的方式显得效率低下，人们开始用Makefile来进行编译。然而随着工程体量的增大，Makefile也不能满足需求，于是便出现了Cmake工具。CMake是对make工具的生成器，是更高层的工具，它简化了编译构建过程，能够管理大型项目，具有良好的扩展性。对于ROS这样大体量的平台来说，就采用的是CMake，并且ROS对CMake进行了扩展，于是便有了Catkin编译系统。

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## 1.2 Catkin\_make编译流程 ##

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## 1.3 Catkin\_make文件系统 ##

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[http_wiki.ros.org_catkin_commands_catkin_make]: http://wiki.ros.org/catkin/commands/catkin_make
[Link 1]: https://blog.csdn.net/sinat_16643223/article/details/113935412?utm_medium=distribute.pc_relevant.none-task-blog-2~default~baidujs_baidulandingword~default-4.control&spm=1001.2101.3001.4242
[ROS_21_ _ _ROS]: https://www.bilibili.com/video/BV1zt411G7Vn
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