参考
主要就是在定义完可执行文件后加入
rosidl_target_interfaces(fibonacci_action_server${PROJECT_NAME} "rosidl_typesupport_cpp")
末尾加ament_export_dependencies(rosidl_default_runtime) 同时别忘记 packagexml定义 rosidl_default_runtime
完整Cmakelists,txt
cmake_minimum_required(VERSION 3.8)
project(mypkg)if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")add_compile_options(-Wall -Wextra -Wpedantic)
endif()# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(example_interfaces REQUIRED)find_package(rosidl_default_generators REQUIRED)rosidl_generate_interfaces(${PROJECT_NAME}"action/Fibonacci.action"
)if(BUILD_TESTING)find_package(ament_lint_auto REQUIRED)# the following line skips the linter which checks for copyrights# comment the line when a copyright and license is added to all source filesset(ament_cmake_copyright_FOUND TRUE)# the following line skips cpplint (only works in a git repo)# comment the line when this package is in a git repo and when# a copyright and license is added to all source filesset(ament_cmake_cpplint_FOUND TRUE)ament_lint_auto_find_test_dependencies()
endif()add_executable(fibonacci_action_server src/fibonacci_action_server.cpp)
ament_target_dependencies(fibonacci_action_server
rclcpp rclcpp_action example_interfaces rosidl_default_runtime)
rosidl_target_interfaces(fibonacci_action_server${PROJECT_NAME} "rosidl_typesupport_cpp")add_executable(fibonacci_action_client src/fibonacci_action_client.cpp)
ament_target_dependencies(fibonacci_action_client
rclcpp
rclcpp_action
example_interfaces
rosidl_default_runtime)rosidl_target_interfaces(fibonacci_action_client${PROJECT_NAME} "rosidl_typesupport_cpp")install(TARGETSfibonacci_action_serverfibonacci_action_clientDESTINATION lib/${PROJECT_NAME})ament_export_dependencies(rosidl_default_runtime)
ament_package()
<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3"><name>mypkg</name><version>0.0.0</version><description>TODO: Package description</description><maintainer email="lzq@todo.todo">lzq</maintainer><license>TODO: License declaration</license><buildtool_depend>ament_cmake</buildtool_depend><depend>rclcpp</depend><depend>rclcpp_action</depend><depend>example_interfaces</depend><test_depend>ament_lint_auto</test_depend><test_depend>ament_lint_common</test_depend><build_depend>rosidl_default_generators</build_depend><exec_depend>rosidl_default_runtime</exec_depend><member_of_group>rosidl_interface_packages</member_of_group><export><build_type>ament_cmake</build_type></export>
</package>
