ROS Programming: Building Powerful Robots

Step 4: Editing the CMakeLists.txt file

The definition of the CMakeLists.txt file is given next. In this example, we need OpenCV support, so we should include the OpenCV header path and also link the source code against the OpenCV library path.

include_directories( 
  ${catkin_INCLUDE_DIRS} 
  ${OpenCV_INCLUDE_DIRS} 
) 
 
add_executable(sample_cv_bridge_node src/sample_cv_bridge_node.cpp) 
 
## Specify libraries to link a library or executable target against 
 target_link_libraries(sample_cv_bridge_node 
   ${catkin_LIBRARIES} 
   ${OpenCV_LIBRARIES} 
 )