cmake_minimum_required()	#CMake的最低版本号

project()					#项目名称

find_package()				#找到编译需要的其他CMake/Catkin	package 

catkin_python_setup()		#catkin新加宏，打开catkin的Python Module的支持

add_message_files()			#catkin新加宏，添加自定义Message文件 

add_service_files()         #catkin新加宏，添加自定义Service文件 

add_action_files()          #catkin新加宏，添加自定义Action文件 

generate_message()			#catkin新加宏，生成不同语言版本的msg/srv/action接口 

catkin_package()			#catkin新加宏，生成当前package的cmake配置，供依赖本包的其他软件包调用 

add_library()				#生成库 

add_executable()			#生成可执行二进制文件

add_dependencies()			#定义目标文件依赖于其他目标文件，确保其他目标已被构建 

target_link_libraries()		#链接

catkin_add_gtest()			#catkin新加宏，生成测试

install()					#生成可安装目标

cmake_minimum_required()			#CMake的最低版本号

project()				  		   #项目名称

find_package()   				    #查找系统中的依赖项

ament_target_dependencies()          #依赖于其他目标文件，确保其他目标已被构建 

add_executable()				    #生成可执行二进制文件

install()						   #生成可安装目标

ament_package()						#生成功能包

rosidl_generate_interfaces()		# 自定义消息类型接口

cmake_minimum_required(VERSION 3.5)
project(test_c)

# 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)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)

add_executable(talker src/publisher_member_function.cpp)	# 修改2
ament_target_dependencies(talker rclcpp std_msgs)			# 修改3

install(TARGETS
  talker												# 修改4
  DESTINATION lib/${PROJECT_NAME})

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()

# 添加自定义消息类型需要添加项
find_package(geometry_msgs REQUIRED)
find_package(rosidl_default_generators REQUIRED)

rosidl_generate_interfaces(${PROJECT_NAME}
  "msg/Num.msg"				# 自定义1
  "msg/Sphere.msg"			# 自定义2
  "srv/AddThreeInts.srv"     # 自定义3
  DEPENDENCIES geometry_msgs
)

ament_package()

add_executable(test src/test.cpp)	# test为你输入节点后执行的名称，如ros2 run test_c test（前一个test_c为包名，后一个test则为这里的设置的名称，代表具体执行的代码）
ament_target_dependencies(test rclcpp)	# 添加依赖项

install(TARGETS
  test
  DESTINATION lib/${PROJECT_NAME}
)

# 添加自定义消息类型需要添加项
# 下面两项是固定的，geometry_msgs是用于生成消息依赖包
find_package(geometry_msgs REQUIRED)
find_package(rosidl_default_generators REQUIRED)

rosidl_generate_interfaces(${PROJECT_NAME}
  "msg/Num.msg"				# 自定义1
  "msg/Sphere.msg"			# 自定义2
  "srv/AddThreeInts.srv"     # 自定义3
  DEPENDENCIES geometry_msgs
)