![]() ![]() Once installation is completed, we can check CMake version: cmake -version Testing CMakeĬreate a new directory for storing project files and navigate to this directory: mkdir helloworld & cd helloworld Run the following command to install CMake: sudo apt install -y cmake Next, update the package lists: sudo apt update Install CMakeĭownload GPG key: sudo wget -qO /etc/apt//kitware-key.asc Īdd repository: echo "deb $(lsb_release -sc) main" | sudo tee /etc/apt//kitware.list This tutorial demonstrates how to install CMake on Ubuntu 22.04. CMake is not a compiler or build system, but rather it generates build files that can be used to compile source code. With the separation of header files and implementation in C/C++, it is not always necessary to add both files as argument to add_library/ add_executable.CMake is a tool which uses a configuration file called CMakeLists.txt for generating standard build files such as makefiles on Unix systems, Visual Studio project files on Windows, etc. There are two main targets to build: libraries and executables which are built by add_library and add_executable respectively. Instead of adding to ament_package, you can also add to the variable $_CONFIG_EXTRAS_POST While CONFIG_EXTRAS files are included before the files generated for the ament_export_* calls the files from CONFIG_EXTRAS_POST are included afterwards. cmake.in templates expanded by configure_file()) which should be available to clients of the package.įor an example of when to use these arguments, see the discussion in Adding resources.įor more information on how to use template files, see the official documentation.ĬONFIG_EXTRAS_POST: same as CONFIG_EXTRAS, but the order in which the files are added differs. ![]() Since ament_package() gathers a lot of information from the CMakeLists.txt it should be the last call in your CMakeLists.txt.Īlthough it is possible to follow calls to ament_package() by calls to install functions copying files and directories, it is simpler to just keep ament_package() the last call.Īment_package can be given additional arguments:ĬONFIG_EXTRAS: a list of CMake files (. The project setup is done by ament_package() and this call must occur exactly once per package.Īment_package() installs the package.xml, registers the package with the ament index, and installs config (and possibly target) files for CMake so that it can be found by other packages using find_package. The argument to project will be the package name and must be identical to the package name in the package.xml. The basic outline of the CMakeLists.txt of an ament package contains:Ĭmake_minimum_required ( VERSION 3.5 ) project ( my_project ) ament_package () The CMakeLists.txt contains the commands to build and package executables and libraries and will be the main focus of this document. The package.xml must contain all dependencies and a bit of metadata to allow colcon to find the correct build order for your packages, to install the required dependencies in CI as well as provide the information for a release with bloom. The basic build information is then gathered in two files: the package.xml and the CMakeLists.txt.
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