【Linux快速入门(二)】Linux与ROS学习之编译基础（make编译）

2024-10-15 16:43:29

零.前置篇章

一.make的由来

二.安装make

三.编写Makefile

四.编译运行

五.删除可执行文件

零.前置篇章

第一篇【Linux快速入门】Linux与ROS学习之编译基础（gcc编译）_linux+ros-****博客

一.make的由来

"make"是一个用于自动化构建软件的工具，通常用于编译和构建程序。当你运行make命令时，make工具会查找当前目录下的Makefile文件，该文件包含了编译程序所需的指令和规则。

make起初是人们为了简化g++编译而发明出来的批处理工具，通过其自动调用指令而进行编译。

二.安装make

sudo apt install make

三.编写Makefile

进入到d2lros2/d2lros2/chapt2/basic下使用vim新建Makefile。

然后将上一篇中的的g++编译指令用下面的形式写到Makefile里（最好要熟悉或者会使用基础的vim指令）。

build:
        g++ first_ros2_node.cpp \
        -I/opt/ros/jazzy/include/rclcpp/ \
        -I /opt/ros/jazzy/include/rcl/ \
        -I /opt/ros/jazzy/include/rcutils/ \
        -I /opt/ros/jazzy/include/rmw \
        -I /opt/ros/jazzy/include/rcl_yaml_param_parser/ \
        -I /opt/ros/jazzy/include/rosidl_runtime_c \
        -I /opt/ros/jazzy/include/rosidl_typesupport_interface \
        -I /opt/ros/jazzy/include/rcpputils \
        -I /opt/ros/jazzy/include/builtin_interfaces \
        -I /opt/ros/jazzy/include/rosidl_runtime_cpp \
        -I /opt/ros/jazzy/include/tracetools \
        -I /opt/ros/jazzy/include/rcl_interfaces \
        -I /opt/ros/jazzy/include/libstatistics_collector \
        -I /opt/ros/jazzy/include/statistics_msgs \
        -I /opt/ros/jazzy/include/service_msgs/ \
        -I /opt/ros/jazzy/include/type_description_interfaces/ \
        -I /opt/ros/jazzy/include/rosidl_dynamic_typesupport/ \
        -I /opt/ros/jazzy/include/rosidl_typesupport_introspection_cpp/ \
        -L /opt/ros/jazzy/lib/ \
        -lrclcpp -lrcutils  \
        -o first_node

#编译执行完后立刻删除first_node
clean:
        rm first_node