rviz plugin用のpackage.xmlとCMakeLists.txtの書き方

【rviz2プラグインの作り方 トップページへ】

pkg createで生成されたものに追記する分だけ書いておきます

package.xml

package.xml

  <depend>rclcpp</depend>
  <depend>libqt5-widgets</depend>
  <depend>rviz_common</depend>
  <depend>rviz_rendering</depend>
  <depend>rviz_ogre_vendor</depend>

この他にプラグイン内でトピックのやりとりをするなら必要なパッケージを追記(例,<depend>std_msgs<\depend>)

CMakeLists.txt

CMakeLists.txt

find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rviz_common REQUIRED)
find_package(rviz_rendering REQUIRED)
find_package(rviz_ogre_vendor REQUIRED)
find_package(pluginlib REQUIRED)
find_package(Qt5 REQUIRED COMPONENTS Widgets)
# find_package(std_msgs REQUIRED)
# find_package(geometry_msgs REQUIRED)

include_directories(src ${OGRE_INCLUDE_DIRS} ${OGRE_INCLUDE_DIRS}/Paging)

set(CMAKE_AUTOMOC ON)

add_library(${PROJECT_NAME} SHARED
  # src/aaa.cpp
  # src/bbb.cpp
  # src/ccc.cpp
)

ament_target_dependencies(${PROJECT_NAME} 
  rclcpp 
  rviz_common

  # std_msgs
  # geometry_msgs
)

target_link_libraries(${PROJECT_NAME} Qt5::Widgets)

pluginlib_export_plugin_description_file(rviz_common plugins_description.xml)

install(TARGETS
  ${PROJECT_NAME}
  EXPORT ${PROJECT_NAME}  
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin
  INCLUDES DESTINATION include
)

package.xmlと同様に必要に応じて追記