目录结构
程序１：main,foo_1.cpp,main.h,foo_1.h
程序２：other.cpp
makefile2只是个别名，可make -f makefile2来编译
对于makefile
方法１
all:maincc otherr
#第一个maincc是自己随便起的要生成的可执行文件的名字，main.o和foo_1.o是生成maincc要用到的文件, 编译顺序是main.o再到foo_1.o
maincc:main.o foo_1.o
g++ foo_1.o main.o -o maincc #用g++把foo_1.o和main.o两个文件编译成可执行文件
#并用 -o 将其命名为maincc
#这一步是main.o的生成，main.cpp是生成main.o要用到的文件
main.o:main.cpp main.h foo_1.h
g++ -c main.cpp #用g++ -c 把main.cpp编译成.o文件
#这一步是foo_1.o的生成，foo_1.cpp是生成foo_1.o要用到的文件
foo_1.o:foo_1.cpp foo_1.h
g++ -c foo_1.cpp #用g++ -c 把foo_1.cpp编译成.o文件
#编译第二个文件
otherr:other.cpp
g++ other.cpp -o otherr
other.o:other.cpp
g++ -c other.cpp
#编译完成生成的.o文件用不到，可以加两句话自动把.o删掉（编译时要在终端里输入make clean）
.PHONY: clean
clean:
rm -f *.o
# 方法２
# 另外，生成.o文件是为了加深理解，也可以直接用g++将两个.cpp文件编译成一个可执行文件
# maincc:main.cpp foo_1.cpp
# g++ foo_1.cpp main.cpp -o maincc
方法３（大项目必须会使用的makefile写法）参考这位博主
#Makefile有三个非常有用的变量。分别是$@，$^，$<代表的意义分别是：
#$@--目标文件的集合，$^--所有的依赖文件的集合，$<--第一个依赖文件，若有多个目标文件，依次编译依赖文件。
target1=maincc #服务器运行目标文件server
target2=otherr #客户端目标文件client
src=$(wildcard *.cpp) #用wildcard函数找到所有.c文件，server.c、client.c、wrap.c
deps=$(wildcard *.h) #用wildcard函数找到所有的.h文件，wrap.h
obj=$(patsubst %.cpp,%.o,$(src)) #用patsubst函数将所有.c文件替换成.o文件
#目标文件server和client，多个目标文件一定形成此依赖关系
all:$(target1) $(target2)
@echo "ok"
#server的依赖为server.o和wrap.o
$(target1):main.o foo_1.o
g++ $^ -o $@ -Wall #利用gcc编译器生成可执行文件server
#client的依赖为client.o和wrap.o
$(target2):other.o
g++ $^ -o $@ -Wall #利用gcc编译器生成可执行文件client
#任意一个.o中间目标文件的依赖是其对应的.c文件，如：client.o的依赖为client.c
%.o:%.cpp $(deps)
g++ -c $< -o $@ -Wall #根据目标文件编译的需求依次将依赖编译成对应的中间目标文件
#伪文件，需要在终端输入make clean才会调用
.PHONY:clean
clean:
-rm -rf $(target1) $(target2) $(obj) #删除所有的目标文件以及中间目标文件，用于重新编译。
之后就变成这样了
对于cmakelist
#cmake的版本要求
cmake_minimum_required(VERSION 3.6)
#工程的名称
project(algorTest)
#添加可执行文件
add_executable(other other.cpp)
#第2个选项必须要有,可以选PUBLIC|PRIVATE|INTERFACE
target_sources(other PUBLIC )
#编译多个文件的方法１
add_executable(other2 other2.cpp)
#编译多个文件的方法2，两句
#set(SOURCES other2.cpp)
#add_executable(other2 ${SOURCES})
mkdir build && cd build
cmake ..
make
对于catkin_make
先说明一下catkin_make和cmake关系
cmake编译是这样的流程, cmake指令依据你的CMakeLists.txt
文件,生成makefiles文件,make再依据此makefiles文件编译链接生成可执行文件.catkin_make是将cmake与make的编译方式做了一个封装的指令工具, 规范了工作路径与生成文件路径.
我通常是在ros下用catkin_make
附上代码，里面有对应解释
cmake_minimum_required(VERSION 3.0.2)
project(pcl_learning)
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
# find_package(catkin 中)添加一个自己写的功能包，它会被当前package依赖, 因此，它也需要在package.xml中配置build_depend和run_depend
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
pcl_ros
)
# 如果找到libLAS库就把头文件路径和库文件路径赋值给 include_directories中的 ${libLAS_INCLUDE_DIRS}、 target_link_libraries中的${libLAS_LIBRARIES}。
find_package(PCL 1.8 REQUIRED)
#find_package(libLAS REQUIRED)
# 对存在.cmake库文件的情况直接find_package()，而对于可能没有***.cmake和***Config.cmake的库文件，可以直接找到其头文件和库文件所在文件夹，直接进行路径赋值：
#SET(libLAS_DIR /usr/local/lib/)
#SET(libLAS_INCLUDE_DIRS /usr/local/include)
#SET(libLAS_LIBRARIES /usr/local/lib)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# std_msgs
# )
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
INCLUDE_DIRS include
# LIBRARIES pcl_learning
CATKIN_DEPENDS roscpp rospy std_msgs
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
# 添加头文件目录(四件套include_directories()+link_directories()+add_executable()+target_link_libraries()和三件套include_directories()+LINK_LIBRARIES()+add_executable())
include_directories(
# include
${catkin_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
${libLAS_INCLUDE_DIRS}
/home/gmh/pcl_test/src/pcl_learning/lib/libLAS/include
)
# 添加需要链接的库文件目录
# link_directories(${CMAKE_CURRENT_SOURCE_DIR}/lib )
# link_directories(/usr/lib/aarch64-linux-gnu/)
# link_directories(/home/gmh/pcl_test/src/pcl_learning/lib/libLAS/include)
# 调用静态库或者动态库,用在add_executable之前，需要全路径(有这个就不需要target_link_libraries和link_directories)
# LINK_LIBRARIES(/usr/lib/aarch64-linux-gnu/libboost_system.so)
# LINK_LIBRARIES(libboost_system.a)
LINK_LIBRARIES(/home/gmh/pcl_test/src/pcl_learning/lib/libLAS/build/bin/Release/liblas.so)
# 添加源文件
FILE(GLOB SOURCE_FILES src/*/*.c src/*/*.cpp src/1_pcl_lasTopcd.cpp)
# 生成so包
add_library(pcl_test_learning ${SOURCE_FILES})
link_libraries(pcl_test_learning)
add_subdirectory(src)
## Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/pcl_learing.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/pcl_learing_node.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
# ${catkin_LIBRARIES}
# )
#############
## 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
## in contrast to setup.py, you can choose the destination
# catkin_install_python(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_pcl_learing.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
# 添加要编译的可执行文件编译成可执行文件
add_executable(1_pcl_lasTopcd 1_pcl_lasTopcd.cpp)
# 提醒编译器需要先生成pcl_vehicle_node后面的依赖再生成pcl_vehicle_node
add_dependencies(1_pcl_lasTopcd ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
# 设置要链接的库文件的名称,用在add_executable之后(按照header file + .lib + .dll方式隐式调用动态库的.lib库)，pcl_vehicle_node才能找到第三方库
target_link_libraries(1_pcl_lasTopcd ${catkin_LIBRARIES} ${libLAS_LIBRARIES}${PCL_LIBRARIES})