[C++知识库]怎么在ros功能包下添加自己写的的头文件

参考链接
基于VSCode和CMake实现C/C++开发 | Linux篇

根据以上视频第七讲的内容把它写在了ros功能包里面
代码结构如下

相关代码如下：
Gun.h

#pragma once

#include <iostream>
#include <string>

//类的声明大括号后面要加分号
class Gun
{
public:
    //构造函数赋值
    Gun(std::string type)
    {
        this->_bullet_cout = 0;
        this->_type = type;
    }
    //接口
    void addBullet(int bullet_num);
    bool shoot();

private:
    int _bullet_cout;
    std::string _type;
};

solider.h

#pragma once
#include <iostream>
#include <string>
#include "Gun.h"

class solider
{
public:
    solider(std::string name);
    ~solider();
    void addBulletToGun(int num);
    void addGun(Gun *ptr_gun);
    bool fire();

private:
    std::string _name;
    Gun *_ptr_gun;
};

Gun.cpp

#include <Gun.h>

using namespace std;

void Gun::addBullet(int bullet_num)
{
    this->_bullet_cout += bullet_num;
}
bool Gun::shoot()
{
    if (this->_bullet_cout <= 0)
    {
        cout << "no bullet" << endl;
        return false;
    }
    this->_bullet_cout -=1;
    cout<<"sucess"<<endl;
    return true;
}

solider.cpp

#include "Gun.h"
#include "solider.h"

void test()
{
    solider sanduo("xusanduo");
    sanduo.addGun(new Gun("AK47"));
    sanduo.addBulletToGun(20);
    sanduo.fire();
}

int main(int argc, char **argv)
{
    /* code */
    test();

    return 0;
}

main.cpp

#include "Gun.h"
#include "solider.h"

void test()
{
    solider sanduo("xusanduo");
    sanduo.addGun(new Gun("AK47"));
    sanduo.addBulletToGun(20);
    sanduo.fire();
}

int main(int argc, char **argv)
{
    /* code */
    test();

    return 0;
}

之后配置src目录下的CMakeLists.txt文件
添加以下内容

include_directories(include) //这里是指相对路径
add_executable(my_c_exe src/main.cpp src/Gun.cpp src/solider.cpp )
add_dependencies(my_c_exe ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(my_c_exe
  ${catkin_LIBRARIES}
)

之后进行catkin_make
编译成功后
运行

rosrun 7sample my_c_exe