ROS中不同Package的编译顺序

如果slam package依赖robot_msg package，此时需要先编译robot_msg.

一、在slam/package.xml中

  <depend>robot_msg</depend>

二、在slam/CMakeList.txt中

catkin_package(
  CATKIN_DEPENDS roscpp robot_msg
)

add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS})

如果是slam工程内部的自定义消息

在CMakeList.txt中添加：
add_dependencies(${PROJECT_NAME}__generate_messages_cpp )

add_executable(back_end_node src/apps/back_end_node.cpp)
add_dependencies(back_end_node lidar_localization_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
target_link_libraries(back_end_node ${catkin_LIBRARIES} ${ALL_TARGET_LIBRARIES})