（五）ROS2学习-创建调用其它包接口的一个发布者

cmake_minimum_required(VERSION 3.5) project(car_publish_test) # Default to C99 if(NOT CMAKE_C_STANDARD) set(CMAKE_C_STANDARD 99) endif() # Default to C++14 if(NOT CMAKE_CXX_STANDARD) set(CMAKE_CXX_STANDARD 14) endif() if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") add_compile_options(-Wall -Wextra -Wpedantic) endif() # find dependencies find_package(ament_cmake REQUIRED) # uncomment the following section in order to fill in # further dependencies manually. # find_package(<dependency> REQUIRED) if(BUILD_TESTING) find_package(ament_lint_auto REQUIRED) # the following line skips the linter which checks for copyrights # uncomment the line when a copyright and license is not present in all source files #set(ament_cmake_copyright_FOUND TRUE) # the following line skips cpplint (only works in a git repo) # uncomment the line when this package is not in a git repo #set(ament_cmake_cpplint_FOUND TRUE) ament_lint_auto_find_test_dependencies() endif() set(msg_files "msg/Car.msg" ) find_package(smart_car REQUIRED) rosidl_generate_interfaces(${PROJECT_NAME} ${msg_files} DEPENDENCIES smart_car ) ament_export_dependencies(rosidl_default_runtime) find_package(rclcpp REQUIRED) add_executable(publish_car_test src/publish_car_test.cpp) ament_target_dependencies(publish_car_test rclcpp) install(TARGETS publish_car_test DESTINATION lib/${PROJECT_NAME}) rosidl_target_interfaces(publish_car_test ${PROJECT_NAME} "rosidl_typesupport_cpp") ament_package()