如何在ROS中引入Aruco库并解决catkin_make编译错误

问题背景 #

手动编译安装Aruco库（cmake/make/sudo make install均无报错），但ROS工作空间执行catkin_make时出现编译错误，推测原因是Aruco库的头文件与cpp文件同存于src目录，导致CMake无法正确识别头文件路径。当前使用的CMakeLists.txt代码如下：

cmake_minimum_required(VERSION 2.8.3)
project(aruco_mapping)

find_package(OpenCV REQUIRED)
find_package(aruco REQUIRED)

find_package(catkin REQUIRED COMPONENTS 
             roscpp
             message_generation
             image_transport
             cv_bridge
             tf
             aruco
             visualization_msgs
             camera_calibration_parsers)

include_directories(${catkin_INCLUDE_DIRS} }
                    ${PROJECT_SOURCE_DIR}/include/)
                    

include_directories(${PROJECT_SOURCE_DIR}/src/)


SET(SOURCES ${PROJECT_SOURCE_DIR}/src/main.cpp
            ${PROJECT_SOURCE_DIR}/src/aruco_mapping.cpp)
   
SET(HEADERS ${PROJECT_SOURCE_DIR}/include/aruco_mapping.h)

add_message_files(FILES ArucoMarker.msg)

generate_messages(DEPENDENCIES
                  std_msgs
                  geometry_msgs)
   
catkin_package(
  INCLUDE_DIRS include
  LIBRARIES
)

add_executable(${PROJECT_NAME} ${SOURCES} ${HEADERS})
add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS} aruco_mapping_gencpp )
target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBS} ${aruco_LIBS} ${ROS_LIBRARIES} ${catkin_LIBRARIES})

修复步骤 #

1. 修正语法错误 #

原代码中include_directories行多了一个冗余的闭合大括号，直接导致CMake解析失败，修正后：

include_directories(${catkin_INCLUDE_DIRS}
                    ${PROJECT_SOURCE_DIR}/include/)

2. 添加Aruco头文件路径 #

由于手动安装的Aruco库头文件存放在src目录，需将该路径添加到include_directories中：

• 若已知Aruco库的src路径（比如/usr/local/src/aruco），直接添加：

  include_directories(/path/to/your/aruco/src)
  

• 若不确定路径，用find_path自动查找：

  find_path(ARUCO_INCLUDE_DIR aruco.h PATHS /usr/local/src/aruco /usr/src/aruco)
  include_directories(${ARUCO_INCLUDE_DIR})
  

3. 移除catkin依赖中的冗余项 #

原代码在catkin REQUIRED COMPONENTS中重复添加了aruco，但手动安装的Aruco并非ROS组件，catkin无法识别，需删除该条目：

find_package(catkin REQUIRED COMPONENTS 
             roscpp
             message_generation
             image_transport
             cv_bridge
             tf
             visualization_msgs
             camera_calibration_parsers)

4. 优化catkin_package配置 #

在catkin_package中明确声明依赖的头文件、库和外部依赖，确保其他包能正确引用：

catkin_package(
  INCLUDE_DIRS include ${ARUCO_INCLUDE_DIR}
  LIBRARIES ${PROJECT_NAME}
  CATKIN_DEPENDS roscpp message_generation image_transport cv_bridge tf visualization_msgs camera_calibration_parsers
  DEPENDS OpenCV aruco
)

5. 简化源文件路径引用 #

用相对路径替代绝对路径，提升配置文件可读性：

SET(SOURCES src/main.cpp
            src/aruco_mapping.cpp)
   
SET(HEADERS include/aruco_mapping.h)

6. 清理冗余链接库 #

${ROS_LIBRARIES}已包含在${catkin_LIBRARIES}中，删除重复项：

target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBS} ${aruco_LIBS} ${catkin_LIBRARIES})

修改后的完整CMakeLists.txt #

cmake_minimum_required(VERSION 2.8.3)
project(aruco_mapping)

find_package(OpenCV REQUIRED)
find_package(aruco REQUIRED)
# 自动查找Aruco头文件路径
find_path(ARUCO_INCLUDE_DIR aruco.h PATHS /usr/local/src/aruco /usr/src/aruco)

find_package(catkin REQUIRED COMPONENTS 
             roscpp
             message_generation
             image_transport
             cv_bridge
             tf
             visualization_msgs
             camera_calibration_parsers)

include_directories(${catkin_INCLUDE_DIRS}
                    ${PROJECT_SOURCE_DIR}/include/
                    ${ARUCO_INCLUDE_DIR})

SET(SOURCES src/main.cpp
            src/aruco_mapping.cpp)
   
SET(HEADERS include/aruco_mapping.h)

add_message_files(FILES ArucoMarker.msg)

generate_messages(DEPENDENCIES
                  std_msgs
                  geometry_msgs)
   
catkin_package(
  INCLUDE_DIRS include ${ARUCO_INCLUDE_DIR}
  LIBRARIES ${PROJECT_NAME}
  CATKIN_DEPENDS roscpp message_generation image_transport cv_bridge tf visualization_msgs camera_calibration_parsers
  DEPENDS OpenCV aruco
)

add_executable(${PROJECT_NAME} ${SOURCES} ${HEADERS})
add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS} aruco_mapping_gencpp )
target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBS} ${aruco_LIBS} ${catkin_LIBRARIES})

内容的提问来源于stack exchange，提问作者George Parlitsis