catkin_make 与 catkin build指令记录

朴灿烈づ我的快乐病毒、 2023-07-18 06:39 40阅读 0赞

catkin\_make 与 catkin build指令记录

catkin build作为catkin\_make的接班者，[https://catkin-tools.readthedocs.io/en/latest/history.html][https_catkin-tools.readthedocs.io_en_latest_history.html] (`catkin_make` \-> catkin\_make\_isolated-> catkin build)，看到有很多的package都是使用这个命令编译的。

> sudo apt-get install python-catkin-tools

mkdir -p /tmp/quickstart_ws/src            # Make a new workspace and source space
    cd /tmp/quickstart_ws                      # Navigate to the workspace root
    
    catkin init                                # Initialize it with a hidden marker file
    
    catkin create pkg pkg_a                    # Populate the source space with packages...
    catkin create pkg pkg_b
    catkin create pkg pkg_c --catkin-deps pkg_a
    catkin create pkg pkg_d --catkin-deps pkg_a pkg_b
    
    catkin list                                # List the packages in the workspace
    
    catkin build                               # Build all packages in the workspace
    
    source /tmp/quickstart_ws/devel/setup.bash # Load the workspace's environment
    
    catkin clean                               # Clean all the build products

> catkin build xpp\_vis --no-deps --verbose --catkin-make-args run\_tests

> catkin build free\_gait\_core --no-deps --verbose --catkin-make-args run\_tests

> rosdep install -y --from-paths . --ignore-src --rosdistro kinetic
> 
> cd ~/ws\_moveit
> 
> **catkin config --extend /opt/ros/$\{ROS\_DISTRO\} --cmake-args -DCMAKE\_BUILD\_TYPE=Release** 
> 
> **catkin build**

前两个就是编译具体的包，详细输出，且不编译依赖项，然后启动test选项。[https://catkin-tools.readthedocs.io/en/latest/verbs/catkin\_build.html\#building-and-running-tests][https_catkin-tools.readthedocs.io_en_latest_verbs_catkin_build.html_building-and-running-tests]

caktin\_make 代替我们做了一件这样的事情

> mkdir build  
> cd build  
> cmake ../src -DCATKIN\_DEVEL\_SPACE=../devel -DCMAKE\_INSTALL\_PREFIX=../install  
> make -j3 -l3

说起继任者，首先需要注意的是**catkin build工具编译的workspace最好和catkin\_make 的分开**。

[https_catkin-tools.readthedocs.io_en_latest_history.html]: https://catkin-tools.readthedocs.io/en/latest/history.html
[https_catkin-tools.readthedocs.io_en_latest_verbs_catkin_build.html_building-and-running-tests]: https://catkin-tools.readthedocs.io/en/latest/verbs/catkin_build.html#building-and-running-tests