如何解决带有 ROS 包的 CMake:未检测到头文件
我试图将我的代码组织成更面向 OOP 的风格,每个类都有自己的头文件和 cpp 文件。这是我在工作区中的包文件夹中的树
- CMakeLists.txt
- include
- - Master_Thread.h
- - Entry.h
- - ROS_Topic_Thread.h
- src
- - pcl_ros_init.cpp
- - archive
- - - pcl_ros_not_updated.cpp
- - - pc_ros_old2.cpp
- - - thread.cpp
- - - pcl_ros_old.cpp
- package.xml
我没有分别在cpp文件中放置类定义,我暂时将它们与主代码(pcl_ros_init.cpp)一起放置。我的类彼此之间有一些轻微的依赖,例如 Master_Thread 类在其声明中使用了 ROS_Topic_Thread,现在,Cmake 能够找到包含文件,但是在像 Master_Thread.h 这样的头文件中,它无法找到ROS_Topic_Thread 等
pcl_ros_custom/include/Master_Thread.h:38:36: error: ‘ROS_Topic_Thread’ has not been declared
这是我的 CMakeLists.txt
cmake_minimum_required(VERSION 3.0.2)
project(pcl_ros_custom)
find_package(catkin required COMPONENTS
roscpp
pcl_conversions
pcl_ros)
catkin_package(
INCLUDE_Dirs
CATKIN_DEPENDS roscpp
pcl_conversions
pcl_ros
)
include_directories(
include
${catkin_INCLUDE_Dirs}/include/**
)
add_executable(pcl_ros_init src/pcl_ros_init.cpp)
target_link_libraries(pcl_ros_init
${catkin_LIBRARIES} ${roslib_LIBRARIES} ${PCL_LIBRARIES} )
这是两个头文件
#ifndef MASTER_THREAD_H
#define MASTER_THREAD_H
#include <ros/ros.h>
#include <pcl_conversions/pcl_conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <sensor_msgs/PointCloud2.h>
#include <thread>
#include <mutex>
#include <chrono>
#include <functional>
#include <utility>
#include <string>
//include custom classes
#include "ROS_Topic_Thread.h"
#include "ClusteringBenchmarkEntry.h"
namespace OCB
{
class Master_Thread
{
private:
std::atomic<bool> mKillswitch;
std::vector<sensor_msgs::PointCloud2ConstPtr> mMasterbuffer1,mMasterbuffer2,mMasterbuffer3,mMasterbuffer4,mMergedPointCloud2Ptr_buffer;
public:
Master_Thread();
void transfer_to_master_buffer(ROS_Topic_Thread&t1,ROS_Topic_Thread&t2,ROS_Topic_Thread&t3,ROS_Topic_Thread&t4 );
void process_buffer();
void setkillswitch();
};
}
#endif
#ifndef ROS_TOPIC_THREAD_H
#define ROS_TOPIC_THREAD_H
#include <ros/ros.h>
#include <pcl_conversions/pcl_conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <sensor_msgs/PointCloud2.h>
#include <thread>
#include <mutex>
#include <chrono>
#include <functional>
#include <utility>
#include <string>
#include "Master_Thread.h"
#include "ClusteringBenchmarkEntry.h"
namespace OCB
{
class ROS_Topic_Thread
{
private:
ros::Subscriber mSub;
// Topic
const std::string mSUB_TOPIC;
//buffer
std::vector<sensor_msgs::PointCloud2ConstPtr> mThreadbuffer;
std::mutex mMutex;
public:
ROS_Topic_Thread()= delete;
ROS_Topic_Thread(ros::NodeHandle* nodehandle,const std::string& SUBTOPIC,ClusteringBenchmarkEntry* entry);
void callback(const sensor_msgs::PointCloud2ConstPtr& sub_ptr);
friend class Master_Thread;
};
} //namespace close scope
#endif //for ROS_TOPIC_THREAD_H
我哪里出错了?
编辑
This 是一个非常好的链接,它清除了我在 C++ 中的大部分头文件组织,它在答案之上帮助我使项目构建顺利进行。希望对阅读本文的人有所帮助。
解决方法
本质上,您不需要将任一标头包含在另一个标头中。这修复了通函包括。
在 ROS_Topic_Thread.h 中,friend class Master_Thread;
已经转发声明了 Mater_Thread,所以你不需要 Master_Thread.h 头文件。
在 Master_Thread.h 中,您还可以在 Master_Thread 类的声明之前转发声明 class ROS_Topic_Thread;
,因为您只在 transfer_to_master_buffer
方法中使用对 ROS_Topic_Thread 的引用。
#ifndef MASTER_THREAD_H
#define MASTER_THREAD_H
#include <ros/ros.h>
#include <pcl_conversions/pcl_conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <sensor_msgs/PointCloud2.h>
#include <thread>
#include <mutex>
#include <chrono>
#include <functional>
#include <utility>
#include <string>
//include custom classes
#include "ClusteringBenchmarkEntry.h"
namespace OCB
{
class ROS_Topic_Thread;
class Master_Thread
{
private:
std::atomic<bool> mKillswitch;
std::vector<sensor_msgs::PointCloud2ConstPtr> mMasterbuffer1,mMasterbuffer2,mMasterbuffer3,mMasterbuffer4,mMergedPointCloud2Ptr_buffer;
public:
Master_Thread();
void transfer_to_master_buffer(ROS_Topic_Thread&t1,ROS_Topic_Thread&t2,ROS_Topic_Thread&t3,ROS_Topic_Thread&t4 );
void process_buffer();
void setkillswitch();
};
}
#endif
#ifndef ROS_TOPIC_THREAD_H
#define ROS_TOPIC_THREAD_H
#include <ros/ros.h>
#include <pcl_conversions/pcl_conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <sensor_msgs/PointCloud2.h>
#include <thread>
#include <mutex>
#include <chrono>
#include <functional>
#include <utility>
#include <string>
#include "ClusteringBenchmarkEntry.h"
namespace OCB
{
class ROS_Topic_Thread
{
private:
ros::Subscriber mSub;
// Topic
const std::string mSUB_TOPIC;
//buffer
std::vector<sensor_msgs::PointCloud2ConstPtr> mThreadbuffer;
std::mutex mMutex;
public:
ROS_Topic_Thread()= delete;
ROS_Topic_Thread(ros::NodeHandle* nodehandle,const std::string& SUBTOPIC,ClusteringBenchmarkEntry* entry);
void callback(const sensor_msgs::PointCloud2ConstPtr& sub_ptr);
friend class Master_Thread;
};
} //namespace close scope
#endif //for ROS_TOPIC_THREAD_H
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