合并两个CMakeLists.txt文件(ROS和Libtorch)

Question

我正在尝试组合两个CMakeLists.txt文件来编译一个同时具有ROS和Libtorch依赖项的C++程序。下面提供了各个文件：

Libtorch CMakeLists.txt文件：

cmake_minimum_required(VERSION 3.0 FATAL_ERROR)
project(example-app)

find_package(Torch REQUIRED)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${TORCH_CXX_FLAGS}")

add_executable(example-app example-app.cpp)
target_link_libraries(example-app "${TORCH_LIBRARIES}")
set_property(TARGET example-app PROPERTY CXX_STANDARD 14)

# The following code block is suggested to be used on Windows.
# According to https://github.com/pytorch/pytorch/issues/25457,
# the DLLs need to be copied to avoid memory errors.
if (MSVC)
  file(GLOB TORCH_DLLS "${TORCH_INSTALL_PREFIX}/lib/*.dll")
  add_custom_command(TARGET example-app
                     POST_BUILD
                     COMMAND ${CMAKE_COMMAND} -E copy_if_different
                     ${TORCH_DLLS}
                     $<TARGET_FILE_DIR:example-app>)
endif (MSVC)

我在这里找到了这个：https://pytorch.org/cppdocs/installing.html

ROS CMakeListis.txt文件：

cmake_minimum_required(VERSION 2.8.3)
project(fly_bot_cpp)

find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  geometry_msgs
  tf
  gazebo_msgs
)

include_directories(
 include
  ${catkin_INCLUDE_DIRS}
  ${Boost_INCLUDE_DIRS}
)

add_executable(example src/example.cpp)
target_link_libraries(example ${catkin_LIBRARIES})

程序example-app.cpp包含ROS和LibTorch两个库。

所以这是我想要做的：

cmake_minimum_required(VERSION 2.8.3)
project(fly_bot_cpp)

set(CMAKE_PREFIX_PATH="home/jarvis/libtorch;/opt/ros/melodic")

find_package(catkin REQUIRED COMPONENTS
  roscpp
  std_msgs
  geometry_msgs
  tf
  rospy
  message_generation
)

find_package(Torch REQUIRED)

include_directories(
 include
  ${catkin_INCLUDE_DIRS}
  ${Boost_INCLUDE_DIRS}
)

add_executable(test_quad src/test_quad.cpp)
target_link_libraries(test_quad ${catkin_LIBRARIES} "${TORCH_LIBRARIES}")

set_property(TARGET test_quad PROPERTY CXX_STANDARD 14)

代码test_quad.cpp (以前称为example-app.cpp)包含ros头文件和torch头文件：

#include "ros/ros.h"
#include <torch/torch.h>
.
.
.

但是，我得到了以下错误。

fatal error: torch/torch.h: No such file or directory
 #include <torch/torch.h>
          ^~~~~~~~~~~~~~~
compilation terminated.

有人能帮帮我吗？？

非常感谢。

Answer 1

删除target_link_libraries中${TORCH_LIBRARIES}周围的引号。这条线应该看起来像这样

target_link_libraries(test_quad ${catkin_LIBRARIES} ${TORCH_LIBRARIES})

这应该会解析火炬头部。

也请看看这篇文章，找到更多关于你未来可能陷入困境的答案--https://answers.ros.org/question/347885/combining-cmakeliststxt-of-libtorch-and-cmakeliststxt-of-ros-package/#

我希望这个答案对那些刚开始接触ros和libtorch的人有帮助:)