ros2 CMakeLists.txt与packages.xml写法

注：尽量使用ament_cmake_auto来编写cmakelists.txt文件，依赖的程序包在packages.xml文件中用<depend>nav_msgs</depend>的形式声明，一些找不到的动态链接库可以用target_link_libraries的方式书写

cmake_minimum_required(VERSION 3.5)
project(nolinear_mpc_control)
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()

add_definitions(-fPIC)

#find_package(catkin REQUIRED COMPONENTS roscpp std_msgs)
find_package(ament_cmake_auto REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(ackermann_msgs REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(chassis_control REQUIRED)

#find_package(rosidl_default_generators REQUIRED)
ament_auto_find_build_dependencies()

ament_auto_add_executable(nolinearMPCNode 
  src/MPCNode.cpp
  src/NolinearMPC.cpp
)
target_link_libraries(nolinearMPCNode 
  ipopt
)
ament_auto_package ()

<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
  <name>nolinear_mpc_control</name>
  <version>0.0.0</version>
  <description>TODO: Package description</description>
  <maintainer email="zhangying@blg.com">zhangying</maintainer>
  <license>TODO: License declaration</license>

  <buildtool_depend>ament_cmake</buildtool_depend>
  
  <depend>std_msgs</depend>
  <depend>chassis_control</depend>
  <depend>nav_msgs</depend>
  <depend>tf2_ros</depend>
  <depend>ackermann_msgs</depend>
  <depend>eigen3</depend>
  <depend>ipopt</depend>

  <test_depend>ament_lint_auto</test_depend>
  <test_depend>ament_lint_common</test_depend>
  
  <export>
    <build_type>ament_cmake</build_type>
  </export>
</package>