ROS Programming: Building Powerful Robots

Understanding CMakeLists.txt

The default CMakeLists.txt file made during the creation of the package has to be edited in order to compile the previous source code. Here is the CMakeLists.txt file used to build the face_tracker_node.cpp class.

The first two lines state the minimum version of cmake required to build this package, and next line is the package name:

    cmake_minimum_required(VERSION 2.8.3) 
    project(face_tracker_pkg) 

The following line searches for the dependent packages of face_tracker_pkg and raises an error if it is not found:

    find_package(catkin REQUIRED COMPONENTS 
      cv_bridge 
      image_transport 
      roscpp 
      rospy 
      sensor_msgs 
      std_msgs 
      message_generation 
 
    ) 

This line of code contains the system-level dependencies for building the package: ...