示例讲解

代码原文

workspace_folder/        --WORKSPACE
  src/                   --SOURCE SPACE

    //--This is symlinked to catkin/cmake/toplevel.cmake
    //  [yuhs@yuhs ~]$locate catkin/cmake/toplevel.cmake
    //  /opt/ros/kinetic/share/catkin/cmake/toplevel.cmake
    //通过上面的文字，可以知道toplevel.cmake的位置，如下图1所示

    CMakeLists.txt/      

    package_1/
      CMakeLists.txt
      package.xml
    ...
    package_n/
      CMakeLists.txt
      package.xml
  build/                 --BUILD SPACE(this is where build system is invoked, not necessarily within workspace)
    CATKIN_IGNORE        --Marking the folder to be ignored when crawling for packages (necessary when source 
                            space is in the root of the workspace, the file is emtpy)
                            #此选项可用于忽略某个包编译
 devel/                 --DEVEL SPACE (targets go here, parameterizable, but defaults to peer of Build Space)
                           # 生成二值 库 可执行文件 
    bin/
    etc/
    /include/
    lib/
    share/
    .catkin              --Marking the folder as a development space (the file contains a semicolon separated list of Source space paths)
                            #
    env.bash
    setup.bash
    setup.sh
    ...
  install/               --INSTALL SPACE (this is where installed targets for test installations go, not necessarily within workspace)
    bin/
    etc/
    include/
    lib/
    share/
    .catkin              --Marking the folder as an install space (the file is emtpy)
    env.bash
    setup.bash    -- Environment setup file for Bash shell
    setup.sh      -- Environment setup file for Bourne shell 
    ...


/
  opt/
    ros/
      groovy/
        setup.bash -- Environment setup file for Bash shell
        setup.sh   -- Environment setup file for Bourne shell
        setup.zsh  -- Environment setup file for zshell
        ...