使用make编译ROS2节点

有没有觉得用g++

编译节点无比的麻烦，的确是这样子，为此先行者们发明了一个叫做make的批处理工具，我们可以将g++的指令写成脚本，就可以通过make自动的调用脚本完成操作。

1.安装make

sudo apt install make

2.编写Makefile

在d2lros2/d2lros2/chapt2/basic下新建Makefile，然后将上面的g++编译指令用下面的形式写到Makefile里。

build:g++ first_ros2_node.cpp \-I/opt/ros/humble/include/rclcpp

/ \-I /opt/ros/humble/include/rcl/ \-I /opt/ros/humble/include/rcutils

/ \-I /opt/ros/humble/include/rmw

 \-I /opt/ros/humble/include/rcl_yaml_param_parser

/ \-I /opt/ros/humble/include/rosidl_runtime_c

 \-I /opt/ros/humble/include/rosidl_typesupport_interface

 \-I /opt/ros/humble/include/rcpputils

 \-I /opt/ros/humble/include/builtin_interfaces

 \-I /opt/ros/humble/include/rosidl_runtime_cpp

 \-I /opt/ros/humble/include/tracetools

 \-I /opt/ros/humble/include/rcl_interfaces

 \-I /opt/ros/humble/include/libstatistics_collector

 \-I /opt/ros/humble/include/statistics_msgs

 \-L /opt/ros/humble/lib/ \-lrclcpp -lrcutils \-o first_node# 顺便小鱼加个clean指令，用来删掉first_node
clean:rm first_node

3. 编译

在Makefile同级目录输入

make build

可以看到make指令调用了脚本里的build下的指令，对代码进行了编译。同级目录下也产生了first_node可执行文件（绿色代表可执行）。

使用make clean指令即可删掉first_node节点。

4.运行测试

./first_node

新开终端

ros2 node list