实现要求

2025-11-09 14:40:37 +08:00
commit 2f6c594658
@@ -0,0 +1,8 @@
+prefix=/home/zh/drive_ws/install
+
+Name: four_wheel_robot
+Description: Description of four_wheel_robot
+Version: 0.0.0
+Cflags: 
+Libs: -L${prefix}/lib 
+Requires: 
@@ -0,0 +1,14 @@
+# generated from catkin/cmake/template/pkgConfig-version.cmake.in
+set(PACKAGE_VERSION "0.0.0")
+
+set(PACKAGE_VERSION_EXACT False)
+set(PACKAGE_VERSION_COMPATIBLE False)
+
+if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_EXACT True)
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
+
+if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
@@ -0,0 +1,225 @@
+# generated from catkin/cmake/template/pkgConfig.cmake.in
+
+# append elements to a list and remove existing duplicates from the list
+# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig
+# self contained
+macro(_list_append_deduplicate listname)
+  if(NOT "${ARGN}" STREQUAL "")
+    if(${listname})
+      list(REMOVE_ITEM ${listname} ${ARGN})
+    endif()
+    list(APPEND ${listname} ${ARGN})
+  endif()
+endmacro()
+
+# append elements to a list if they are not already in the list
+# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig
+# self contained
+macro(_list_append_unique listname)
+  foreach(_item ${ARGN})
+    list(FIND ${listname} ${_item} _index)
+    if(_index EQUAL -1)
+      list(APPEND ${listname} ${_item})
+    endif()
+  endforeach()
+endmacro()
+
+# pack a list of libraries with optional build configuration keywords
+# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
+# self contained
+macro(_pack_libraries_with_build_configuration VAR)
+  set(${VAR} "")
+  set(_argn ${ARGN})
+  list(LENGTH _argn _count)
+  set(_index 0)
+  while(${_index} LESS ${_count})
+    list(GET _argn ${_index} lib)
+    if("${lib}" MATCHES "^(debug|optimized|general)$")
+      math(EXPR _index "${_index} + 1")
+      if(${_index} EQUAL ${_count})
+        message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library")
+      endif()
+      list(GET _argn ${_index} library)
+      list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}")
+    else()
+      list(APPEND ${VAR} "${lib}")
+    endif()
+    math(EXPR _index "${_index} + 1")
+  endwhile()
+endmacro()
+
+# unpack a list of libraries with optional build configuration keyword prefixes
+# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
+# self contained
+macro(_unpack_libraries_with_build_configuration VAR)
+  set(${VAR} "")
+  foreach(lib ${ARGN})
+    string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}")
+    list(APPEND ${VAR} "${lib}")
+  endforeach()
+endmacro()
+
+
+if(four_wheel_robot_CONFIG_INCLUDED)
+  return()
+endif()
+set(four_wheel_robot_CONFIG_INCLUDED TRUE)
+
+# set variables for source/devel/install prefixes
+if("FALSE" STREQUAL "TRUE")
+  set(four_wheel_robot_SOURCE_PREFIX /home/zh/drive_ws/src/four_wheel_robot)
+  set(four_wheel_robot_DEVEL_PREFIX /home/zh/drive_ws/devel)
+  set(four_wheel_robot_INSTALL_PREFIX "")
+  set(four_wheel_robot_PREFIX ${four_wheel_robot_DEVEL_PREFIX})
+else()
+  set(four_wheel_robot_SOURCE_PREFIX "")
+  set(four_wheel_robot_DEVEL_PREFIX "")
+  set(four_wheel_robot_INSTALL_PREFIX /home/zh/drive_ws/install)
+  set(four_wheel_robot_PREFIX ${four_wheel_robot_INSTALL_PREFIX})
+endif()
+
+# warn when using a deprecated package
+if(NOT "" STREQUAL "")
+  set(_msg "WARNING: package 'four_wheel_robot' is deprecated")
+  # append custom deprecation text if available
+  if(NOT "" STREQUAL "TRUE")
+    set(_msg "${_msg} ()")
+  endif()
+  message("${_msg}")
+endif()
+
+# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project
+set(four_wheel_robot_FOUND_CATKIN_PROJECT TRUE)
+
+if(NOT " " STREQUAL " ")
+  set(four_wheel_robot_INCLUDE_DIRS "")
+  set(_include_dirs "")
+  if(NOT " " STREQUAL " ")
+    set(_report "Check the issue tracker '' and consider creating a ticket if the problem has not been reported yet.")
+  elseif(NOT " " STREQUAL " ")
+    set(_report "Check the website '' for information and consider reporting the problem.")
+  else()
+    set(_report "Report the problem to the maintainer 'root <root@todo.todo>' and request to fix the problem.")
+  endif()
+  foreach(idir ${_include_dirs})
+    if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir})
+      set(include ${idir})
+    elseif("${idir} " STREQUAL "include ")
+      get_filename_component(include "${four_wheel_robot_DIR}/../../../include" ABSOLUTE)
+      if(NOT IS_DIRECTORY ${include})
+        message(FATAL_ERROR "Project 'four_wheel_robot' specifies '${idir}' as an include dir, which is not found.  It does not exist in '${include}'.  ${_report}")
+      endif()
+    else()
+      message(FATAL_ERROR "Project 'four_wheel_robot' specifies '${idir}' as an include dir, which is not found.  It does neither exist as an absolute directory nor in '\${prefix}/${idir}'.  ${_report}")
+    endif()
+    _list_append_unique(four_wheel_robot_INCLUDE_DIRS ${include})
+  endforeach()
+endif()
+
+set(libraries "")
+foreach(library ${libraries})
+  # keep build configuration keywords, generator expressions, target names, and absolute libraries as-is
+  if("${library}" MATCHES "^(debug|optimized|general)$")
+    list(APPEND four_wheel_robot_LIBRARIES ${library})
+  elseif(${library} MATCHES "^-l")
+    list(APPEND four_wheel_robot_LIBRARIES ${library})
+  elseif(${library} MATCHES "^-")
+    # This is a linker flag/option (like -pthread)
+    # There's no standard variable for these, so create an interface library to hold it
+    if(NOT four_wheel_robot_NUM_DUMMY_TARGETS)
+      set(four_wheel_robot_NUM_DUMMY_TARGETS 0)
+    endif()
+    # Make sure the target name is unique
+    set(interface_target_name "catkin::four_wheel_robot::wrapped-linker-option${four_wheel_robot_NUM_DUMMY_TARGETS}")
+    while(TARGET "${interface_target_name}")
+      math(EXPR four_wheel_robot_NUM_DUMMY_TARGETS "${four_wheel_robot_NUM_DUMMY_TARGETS}+1")
+      set(interface_target_name "catkin::four_wheel_robot::wrapped-linker-option${four_wheel_robot_NUM_DUMMY_TARGETS}")
+    endwhile()
+    add_library("${interface_target_name}" INTERFACE IMPORTED)
+    if("${CMAKE_VERSION}" VERSION_LESS "3.13.0")
+      set_property(
+        TARGET
+        "${interface_target_name}"
+        APPEND PROPERTY
+        INTERFACE_LINK_LIBRARIES "${library}")
+    else()
+      target_link_options("${interface_target_name}" INTERFACE "${library}")
+    endif()
+    list(APPEND four_wheel_robot_LIBRARIES "${interface_target_name}")
+  elseif(${library} MATCHES "^\\$<")
+    list(APPEND four_wheel_robot_LIBRARIES ${library})
+  elseif(TARGET ${library})
+    list(APPEND four_wheel_robot_LIBRARIES ${library})
+  elseif(IS_ABSOLUTE ${library})
+    list(APPEND four_wheel_robot_LIBRARIES ${library})
+  else()
+    set(lib_path "")
+    set(lib "${library}-NOTFOUND")
+    # since the path where the library is found is returned we have to iterate over the paths manually
+    foreach(path /home/zh/drive_ws/install/lib;/home/zh/drive_ws/devel/lib;/opt/ros/noetic/lib)
+      find_library(lib ${library}
+        PATHS ${path}
+        NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
+      if(lib)
+        set(lib_path ${path})
+        break()
+      endif()
+    endforeach()
+    if(lib)
+      _list_append_unique(four_wheel_robot_LIBRARY_DIRS ${lib_path})
+      list(APPEND four_wheel_robot_LIBRARIES ${lib})
+    else()
+      # as a fall back for non-catkin libraries try to search globally
+      find_library(lib ${library})
+      if(NOT lib)
+        message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'.  The library is neither a target nor built/installed properly.  Did you compile project 'four_wheel_robot'?  Did you find_package() it before the subdirectory containing its code is included?")
+      endif()
+      list(APPEND four_wheel_robot_LIBRARIES ${lib})
+    endif()
+  endif()
+endforeach()
+
+set(four_wheel_robot_EXPORTED_TARGETS "")
+# create dummy targets for exported code generation targets to make life of users easier
+foreach(t ${four_wheel_robot_EXPORTED_TARGETS})
+  if(NOT TARGET ${t})
+    add_custom_target(${t})
+  endif()
+endforeach()
+
+set(depends "")
+foreach(depend ${depends})
+  string(REPLACE " " ";" depend_list ${depend})
+  # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls
+  list(GET depend_list 0 four_wheel_robot_dep)
+  list(LENGTH depend_list count)
+  if(${count} EQUAL 1)
+    # simple dependencies must only be find_package()-ed once
+    if(NOT ${four_wheel_robot_dep}_FOUND)
+      find_package(${four_wheel_robot_dep} REQUIRED NO_MODULE)
+    endif()
+  else()
+    # dependencies with components must be find_package()-ed again
+    list(REMOVE_AT depend_list 0)
+    find_package(${four_wheel_robot_dep} REQUIRED NO_MODULE ${depend_list})
+  endif()
+  _list_append_unique(four_wheel_robot_INCLUDE_DIRS ${${four_wheel_robot_dep}_INCLUDE_DIRS})
+
+  # merge build configuration keywords with library names to correctly deduplicate
+  _pack_libraries_with_build_configuration(four_wheel_robot_LIBRARIES ${four_wheel_robot_LIBRARIES})
+  _pack_libraries_with_build_configuration(_libraries ${${four_wheel_robot_dep}_LIBRARIES})
+  _list_append_deduplicate(four_wheel_robot_LIBRARIES ${_libraries})
+  # undo build configuration keyword merging after deduplication
+  _unpack_libraries_with_build_configuration(four_wheel_robot_LIBRARIES ${four_wheel_robot_LIBRARIES})
+
+  _list_append_unique(four_wheel_robot_LIBRARY_DIRS ${${four_wheel_robot_dep}_LIBRARY_DIRS})
+  _list_append_deduplicate(four_wheel_robot_EXPORTED_TARGETS ${${four_wheel_robot_dep}_EXPORTED_TARGETS})
+endforeach()
+
+set(pkg_cfg_extras "")
+foreach(extra ${pkg_cfg_extras})
+  if(NOT IS_ABSOLUTE ${extra})
+    set(extra ${four_wheel_robot_DIR}/${extra})
+  endif()
+  include(${extra})
+endforeach()
@@ -0,0 +1 @@
+set(ORDERED_PATHS "/opt/ros/noetic/lib")
@@ -0,0 +1,16 @@
+set(_CATKIN_CURRENT_PACKAGE "four_wheel_robot")
+set(four_wheel_robot_VERSION "0.0.0")
+set(four_wheel_robot_MAINTAINER "root <root@todo.todo>")
+set(four_wheel_robot_PACKAGE_FORMAT "2")
+set(four_wheel_robot_BUILD_DEPENDS "gazebo_ros" "geometry_msgs" "nav_msgs" "rospy" "sensor_msgs" "tf" "robot_state_publisher" "xacro" "ackermann_msgs")
+set(four_wheel_robot_BUILD_EXPORT_DEPENDS "gazebo_ros" "geometry_msgs" "nav_msgs" "rospy" "sensor_msgs" "tf")
+set(four_wheel_robot_BUILDTOOL_DEPENDS "catkin")
+set(four_wheel_robot_BUILDTOOL_EXPORT_DEPENDS )
+set(four_wheel_robot_EXEC_DEPENDS "gazebo_ros" "geometry_msgs" "nav_msgs" "rospy" "sensor_msgs" "tf" "robot_state_publisher" "xacro" "ackermann_msgs")
+set(four_wheel_robot_RUN_DEPENDS "gazebo_ros" "geometry_msgs" "nav_msgs" "rospy" "sensor_msgs" "tf" "robot_state_publisher" "xacro" "ackermann_msgs")
+set(four_wheel_robot_TEST_DEPENDS )
+set(four_wheel_robot_DOC_DEPENDS )
+set(four_wheel_robot_URL_WEBSITE "")
+set(four_wheel_robot_URL_BUGTRACKER "")
+set(four_wheel_robot_URL_REPOSITORY "")
+set(four_wheel_robot_DEPRECATED "")
@@ -0,0 +1,8 @@
+# generated from catkin/cmake/template/pkg.context.pc.in
+CATKIN_PACKAGE_PREFIX = ""
+PROJECT_PKG_CONFIG_INCLUDE_DIRS = "".split(';') if "" != "" else []
+PROJECT_CATKIN_DEPENDS = "".replace(';', ' ')
+PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else []
+PROJECT_NAME = "four_wheel_robot"
+PROJECT_SPACE_DIR = "/home/zh/drive_ws/devel"
+PROJECT_VERSION = "0.0.0"
@@ -0,0 +1,8 @@
+# generated from catkin/cmake/template/pkg.context.pc.in
+CATKIN_PACKAGE_PREFIX = ""
+PROJECT_PKG_CONFIG_INCLUDE_DIRS = "".split(';') if "" != "" else []
+PROJECT_CATKIN_DEPENDS = "".replace(';', ' ')
+PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else []
+PROJECT_NAME = "four_wheel_robot"
+PROJECT_SPACE_DIR = "/home/zh/drive_ws/install"
+PROJECT_VERSION = "0.0.0"
@@ -0,0 +1,91 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>four_wheel_robot</name>
+  <version>0.0.0</version>
+  <description>The four_wheel_robot package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="root@todo.todo">root</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/four_wheel_robot</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>gazebo_ros</build_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>nav_msgs</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>tf</build_depend>
+  <build_depend>robot_state_publisher</build_depend>
+  <build_depend>xacro</build_depend>
+
+
+
+  <build_export_depend>gazebo_ros</build_export_depend>
+  <build_export_depend>geometry_msgs</build_export_depend>
+  <build_export_depend>nav_msgs</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>sensor_msgs</build_export_depend>
+  <build_export_depend>tf</build_export_depend>
+
+
+
+  <exec_depend>gazebo_ros</exec_depend>
+  <exec_depend>geometry_msgs</exec_depend>
+  <exec_depend>nav_msgs</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>tf</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>xacro</exec_depend>
+
+
+  <build_depend>ackermann_msgs</build_depend>
+  <exec_depend>ackermann_msgs</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
@@ -0,0 +1,8 @@
+prefix=@PROJECT_SPACE_DIR
+
+Name: @(CATKIN_PACKAGE_PREFIX + PROJECT_NAME)
+Description: Description of @PROJECT_NAME
+Version: @PROJECT_VERSION
+Cflags: @(' '.join(['-I%s' % include for include in PROJECT_PKG_CONFIG_INCLUDE_DIRS]))
+Libs: -L${prefix}/lib @(' '.join(PKG_CONFIG_LIBRARIES_WITH_PREFIX))
+Requires: @(PROJECT_CATKIN_DEPENDS)