ROS知识（13）----基于catkin的包安装

ROS软件包开发完成后，需要安装包，如果你用的是catkin创建的工作空间，那么即可使用命令"catkin_make install"完成此项任务．下面介绍其安装的过程：

１.源码准备

准备好需要安装的代码，通常可以使用catkin来创建工作空间，包和编译整个项目．本例子假定工作空间为catkin_ws，包名为package_install．目录如下图所示：

２.编辑CMakeLists.txt

打开package/CMakeLists.txt，在文件末尾添加添加如下的代码：

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## 添加python程序．in contrast to setup.py, you can choose the destination
 install(PROGRAMS
   scripts/talker.py
   scripts/listener.py
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )

## 添加可执行文件或者库文件，Mark executables and/or libraries for installation
 install(TARGETS talker_node listener_node
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )

## 添加头文件．Mark cpp header files for installation
 install(DIRECTORY include/${PROJECT_NAME}/
   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
   FILES_MATCHING PATTERN "*.h"
   PATTERN ".svn" EXCLUDE
 )
## 添加资源文件的目录，例如文件夹：urdf mesh rviz，其下的所有子目录的文件也会安装到相应的目录下．
 install(DIRECTORY model
            DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
    )
 install(DIRECTORY urdf
            DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
    )
 install(DIRECTORY mesh
            DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
    )
 install(DIRECTORY rviz
            DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
    )
    
## 添加资源文件．Mark other files for installation (e.g. launch and bag files, etc.)
 install(FILES
   launch/bringup.launch
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
 )

３．编译

打开命令终端,到catkin_ws目录下，执行如下命令：

catkin_make install

安装的文件会生成在目录catkin_ws/install下．目录的结构如下图所示

４．运行

a.首先，可将install整个文件夹随意拷贝到一个目录下；然后，打开命令终端,到该目录install下，执行如下命令：

source devel/setup.bash

b.打开命令终端，运行程序，执行如下命令：

roslaunch package_install bringup.launch

这样就可以把安装的程序跑起来了．

５．源码

源码下载：catkin_ws.rar