clion环境搭建c++_mingw64_clion中使用python，ros-qt

绝地灬酷狼 2023-02-13 11:24 1阅读 0赞

# **                                        c++环境搭建** #

1.下载:

[http://download.qt.io/archive/qt/][http_download.qt.io_archive_qt]

链接：https://pan.baidu.com/s/1a-S\_Y58RSN-R-6B3r3nvBA   
提取码：6t36

2.解压: mingw

![20200528185311976.png][]

注意: 我给的是已安装好的;

自己 安装需要勾选:

![20200528190943958.png][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70][]

3.配置环境变量

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 1][]

3.1 打开cmd 检测是否安装成功:

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 2][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 3][]

4.安装:clion

4.1 下载

链接：https://pan.baidu.com/s/1GSyBqt6ls15DSfu-8CxHKA   
提取码：wn5c

5.打开clion  开发工具会自动配置环境,也可手动配置环境;

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 4][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 5][]

6. 设置打开开发工具后不运行上一次的项目

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 6][]

大小写匹配提示

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 7][]

opencv图片显示 ;目前只看到windows有这个功能

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 8][]

2. c++ class 模板配置

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 9][]

#parse("C File Header.h")
    #[[#ifndef]]# ${INCLUDE_GUARD}
    #[[#define]]# ${INCLUDE_GUARD}
     
    ${NAMESPACES_OPEN}
     
    class ${NAME} {
    public:
        ${NAME}();
        ~${NAME}();
    };
     
    ${NAMESPACES_CLOSE}
     
    #[[#endif]]# //${INCLUDE_GUARD}

#parse("C File Header.h")
    #[[#include]]# "${HEADER_FILENAME}"
    ${NAME}::${NAME}(){
        
    }
    ${NAME}::~${NAME}(){
     
    }

## clion 初始化开发配置笔记针对ros ##

数学公式网站

[https://mathpix.com/][https_mathpix.com]

[http://webdemo.myscript.com][http_webdemo.myscript.com]

1.安装ros插件

功能是创建msg文件时有提示

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 10][]

2. translation 安装翻译插件

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 11][]

3.hatchery插件

功能是创建launch 文件时有提示

## ![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 12][] ##

3. CommonCode插件 辅助代码功能

![20200726190808298.png][]

3.CodeGlance插件

![20200726190740840.png][]

4. 配置默认使用xml打开urdf文件;

ps: 项目第一次创建urdf文件时就可以选择xml打开,但是你第一次选择的是txt文件默认打开的话需要在这个设置里把它改过来

4.1 删除默认txt文件打开

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 13][]

4.2添加默认xml文件方式打开urdf文件

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 14][]

4.3

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 15][]

## 1. clion模板配置 ##

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 16][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 17][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 18][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 19][]

**3.python ros环境配置**

##  Clion的Python环境[¶][Link 1] ##

为了演示第一个程序，首先我们按照前面的例子，在workspace中创建一个`demo_py`的package，我们基于这个`demo_py`进行讲解开发。

使用clion打开`demo_py`。

### 1. 创建scripts目录[¶][Link 2] ###

在`demo_py`的目录中创建`scripts`目录，用于写python代码。

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 20][]

### 2.配置Python环境[¶][Link 3] ###

打开clion的`setting`，来到`Build,Execution,Deployment`的`Python Interpreter下`,点击设置按键，点击添加。

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 21][]

打开python环境设置按钮，添加python环境

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 22][]

Tip

**特别要注意\*\*的是，目前ROS Melodic版本还\*\*不支持python3**，要等到ROS N版才会支持。

因此，我们选择环境的时候\*\*选择python2.x版本\*\*。

**注意: 新建的python文件需要改权限才能运行 chmoe 777 \***

**4.导入qt库**

## Qt 环境配置[¶][Link 4] ##

C++ 开发ROS项目过程中，如果要引入Qt，需要进行依赖的配置。

以新建的`demo_turtle`package为例，我们就要对`CMakeLists.txt`进行依赖配置。

### 4.1. 添加c++ 11编译的支持[¶][Link 5] ###

Tip

默认的时候，这个配置是被注释起来的，我们只要解开注释就可以。

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 23][]

### 4.2 添加Qt的环境配置[¶][Link 6] ###

set(CMAKE_INCLUDE_CURRENT_DIR ON)
    
    set(CMAKE_AUTOMOC ON)
    
    
    find_package(Qt5 COMPONENTS Core Gui Widgets PrintSupport)

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 24][]

tip: find\_package中，都是要加载的Qt模块，后续如果还需要添加其他的Qt模块，可以在后面追加。

### 4.3  配置CMake[¶][Link 7] ###

来到`CMakeLists.txt`文件中，添加如下:

add_executable(turtle_control src/turtle_control.cpp)
    
    target_link_libraries(turtle_control
    
    ${catkin_LIBRARIES}
    
    Qt5::Core
    
    Qt5::Gui
    
    Qt5::Widgets
    
    Qt5::PrintSupport
    
    )

## ![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 25][] ##

## tip: ##

`add_executable`是把`turtle_control.cpp`标记为可执行的

`target_link_libraries`是为`turtle_control.cpp`提供链接库的，值得注意的是，`${catkin_LIBRARIES}`是ros的依赖库，`Qt5::Core`，`Qt5::Gui`，`Qt5::Wigets`，`Qt5::PrintSupport`是qt的依赖库。

# 5. 配置CMakeLists.txt #

改变编译程序的存储路径，生成xml的保存路径

# ![20200726192629466.png][] #

# 改变编译程序的存储路径，生成xml的保存路径
    
    set(OUTPUT_DIRECTORY_ROOT ${CMAKE_CURRENT_SOURCE_DIR}/build) # ${CMAKE_BUILD_TYPE}
    
    set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${OUTPUT_DIRECTORY_ROOT}/bin" CACHE PATH "Runtime directory" FORCE)
    
    set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${OUTPUT_DIRECTORY_ROOT}/lib" CACHE PATH "Library directory" FORCE)
    
    set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${OUTPUT_DIRECTORY_ROOT}/lib" CACHE PATH "Archive directory" FORCE)

# 5. catkin 编译脚本 #

catkit\_make\_source.sh

用 source catkit\_make\_source.sh 命令启动

#!/bin/bash
    
    catkin_make
    
    if [[ $? != 0 ]]; then
    
    echo 'catkin_make :error'
    
    else
    
    echo 'catkin_make :ok'
    
    source devel/setup.bash
    
    echo 'source devel/setup.bash :ok'
    
    fi

## 6.启动clion脚本 ##

clion\_start.sh

#!/bin/bash
    
    bash ~/CLion-2020.1.1/clion-2020.1.1/bin/clion.sh

## 7.进入指定文件夹的shell脚本 ##

inWorkspaceWorkProject.sh

用控制台命令:  source inWorkspaceWorkProject.sh  启动

或者 . ./inWorkspaceWorkProject.sh 命令运行脚本,第二个命令注意两个点之间是有空格的;

#!/bin/bash
    
    cd ~/workspace/ros_work5

[http_download.qt.io_archive_qt]: http://download.qt.io/archive/qt/
[20200528185311976.png]: https://img-blog.csdnimg.cn/20200528185311976.png
[20200528190943958.png]: https://img-blog.csdnimg.cn/20200528190943958.png
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[https_mathpix.com]: https://mathpix.com/
[http_webdemo.myscript.com]: http://webdemo.myscript.com/
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[20200726190808298.png]: https://img-blog.csdnimg.cn/20200726190808298.png
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[Link 1]: http://robot.czxy.com/docs/ros/hello/pkgpy/#clionpython
[Link 2]: http://robot.czxy.com/docs/ros/hello/pkgpy/#1-scripts
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[Link 3]: http://robot.czxy.com/docs/ros/hello/pkgpy/#2python
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[Link 4]: http://robot.czxy.com/docs/ros/turtle/cppimpl/#qt
[Link 5]: http://robot.czxy.com/docs/ros/turtle/cppimpl/#1-c-11
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[Link 6]: http://robot.czxy.com/docs/ros/turtle/cppimpl/#2-qt
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[Link 7]: http://robot.czxy.com/docs/ros/turtle/cppimpl/#2-cmake
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[20200726192629466.png]: https://img-blog.csdnimg.cn/20200726192629466.png