ROS Programming: Building Powerful Robots

Building the node

As we are using the chapter2_tutorials package, we are going to edit the CMakeLists.txt file. You can use your favorite editor or the rosed tool. This will open the file with the Vim editor:

    $ rosed chapter2_tutorials CMakeLists.txt  

At the end of the file, we will copy the following lines:

include_directories( 
include 
  ${catkin_INCLUDE_DIRS} 
) 
 
add_executable(example1_a src/example1_a.cpp) 
add_executable(example1_b src/example1_b.cpp) 
 
add_dependencies(example1_a  chapter2_tutorials_generate_messages_cpp)add_dependencies(example1_b  chapter2_tutorials_generate_messages_cpp) 
 
target_link_libraries(example1_a ${catkin_LIBRARIES}) 
target_link_libraries(example1_b ${catkin_LIBRARIES}) 

Now, to build the package and compile all ...