cmake_minimum_required(VERSION 3.0.2) project(oryxbot_cruise_ex) ## Compile as C++11, supported in ROS Kinetic and newer add_compile_options(-std=c++11) # 取消注释以启用C++11支持 find_package(Eigen3 REQUIRED) # 确保这一行存在 ## Find catkin macros and libraries find_package(catkin REQUIRED COMPONENTS ar_pose ar_track_alvar_msgs arm_controller geometry_msgs rei_robot_cruise relative_move roscpp tf # 添加TF依赖 control_toolbox # 添加PID控制库 angles # 添加角度计算库 nav_msgs # 添加导航消息依赖 dynamic_reconfigure # 添加动态重配置支持 ) ## System dependencies are found with CMake's conventions # find_package(Boost REQUIRED COMPONENTS system) ################################################ ## Declare ROS messages, services and actions ## ################################################ ## Generate added messages and services with any dependencies listed here # generate_messages( # DEPENDENCIES # ar_track_alvar_msgs # geometry_msgs # ) if(NOT EIGEN3_INCLUDE_DIRS) set(EIGEN3_INCLUDE_DIRS "/usr/include/eigen3") message(STATUS "Manually setting Eigen3 include path: ${EIGEN3_INCLUDE_DIRS}") endif() include_directories( include ${catkin_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS} # 包含Eigen3路径 ) ################################################ ## Declare ROS dynamic reconfigure parameters ## ################################################ ## Generate dynamic reconfigure parameters in the 'cfg' folder generate_dynamic_reconfigure_options( cfg/PidConfig.cfg # 添加PID参数重配置文件 ) ################################### ## catkin specific configuration ## ################################### catkin_package( INCLUDE_DIRS include LIBRARIES oryxbot_cruise_ex CATKIN_DEPENDS ar_pose ar_track_alvar_msgs arm_controller geometry_msgs rei_robot_cruise relative_move roscpp tf control_toolbox angles nav_msgs dynamic_reconfigure DEPENDS Eigen3 # 添加Eigen3依赖（用于矩阵运算） ) ########### ## Build ## ########### ## Specify additional locations of header files include_directories( include ${catkin_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIR} # 包含Eigen3头文件 ) ## Find Eigen3 find_package(Eigen3 REQUIRED) ## Declare a C++ executable add_executable(${PROJECT_NAME}_node src/oryxbot_cruise_ex.cpp src/oryxbot_task.cpp src/pid_controller.cpp # 添加PID控制器实现 ) ## Add cmake target dependencies add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_gencfg # 添加动态重配置生成的目标 ) ## Specify libraries to link against target_link_libraries(${PROJECT_NAME}_node ${catkin_LIBRARIES} ${EIGEN3_LIBRARIES} # 链接Eigen3库 ) ############# ## Install ## ############# ## Mark executables for installation install(TARGETS ${PROJECT_NAME}_node RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) ## Mark cpp header files for installation install(DIRECTORY include/${PROJECT_NAME}/ DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} FILES_MATCHING PATTERN "*.h" PATTERN ".svn" EXCLUDE ) ## Install launch files install(DIRECTORY launch/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch ) ## Install config files install(DIRECTORY cfg/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/cfg ) ############# ## Testing ## ############# ## Add gtest based cpp test target if(CATKIN_ENABLE_TESTING) find_package(rostest REQUIRED) # 添加PID控制器测试 add_executable(pid_controller_test test/pid_controller_test.cpp src/pid_controller.cpp) target_link_libraries(pid_controller_test ${catkin_LIBRARIES} ${GTEST_LIBRARIES}) add_dependencies(pid_controller_test ${catkin_EXPORTED_TARGETS}) add_rostest_gtest(test_pid_controller test/pid_controller.test test/pid_controller_test.cpp) # 添加集成测试 add_rostest(test/integration.test) endif() 不要测试，直接帮我修改，给我完整的

<think>根据提供的CMakeLists.txt内容，我发现存在几个问题：1.重复包含Eigen3：`find_package(Eigen3REQUIRED)`被调用了两次。2.在`include_directories`中，`${EIGEN3_INCLUDE_DIR}`应该是 `${EIGEN3_INCLUDE_DIRS}`（注意最后有S）。 3.在`target_link_libraries`中，`${EIGEN3_LIBRARIES}`实际上对于纯头文件的Eigen3是空的，但为了规范，我们保留它。4.测试部分：由于问题中要求不要测试，我们将注释掉测试部分（但保留测试框架，以便未来使用）。 5.在`catkin_package`中，我们声明了`DEPENDSEigen3`，但需要确保`find_package(Eigen3REQUIRED)`正确执行。 另外，根据之前的错误，我们还需要确保：- Eigen3的路径正确设置（如果未找到则手动设置） -在`include_directories`中包含Eigen3的路径修改后的完整CMakeLists.txt如下：</think>根据您的要求，我直接修改了CMakeLists.txt文件，移除了所有测试部分并修复了依赖问题。以下是完整的修改后文件： ```cmake cmake_minimum_required(VERSION 3.0.2) project(oryxbot_cruise_ex) ## Compile as C++11, supported in ROS Kinetic and newer add_compile_options(-std=c++11) ## Find Eigen3 library find_package(Eigen3 REQUIRED) ## Find catkin macros and libraries find_package(catkin REQUIRED COMPONENTS ar_pose ar_track_alvar_msgs arm_controller geometry_msgs rei_robot_cruise relative_move roscpp tf control_toolbox angles nav_msgs dynamic_reconfigure ) ## Manually set Eigen3 paths if not found by CMake if(NOT EIGEN3_INCLUDE_DIRS) set(EIGEN3_INCLUDE_DIRS "/usr/include/eigen3") message(STATUS "Manually setting Eigen3 include path: ${EIGEN3_INCLUDE_DIRS}") endif() ## Include directories include_directories( include ${catkin_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS} ) ################################################ ## Declare ROS dynamic reconfigure parameters ## ################################################ ## Generate dynamic reconfigure parameters in the 'cfg' folder generate_dynamic_reconfigure_options( cfg/PidConfig.cfg ) ################################### ## catkin specific configuration ## ################################### catkin_package( INCLUDE_DIRS include LIBRARIES oryxbot_cruise_ex CATKIN_DEPENDS ar_pose ar_track_alvar_msgs arm_controller geometry_msgs rei_robot_cruise relative_move roscpp tf control_toolbox angles nav_msgs dynamic_reconfigure DEPENDS Eigen3 ) ########### ## Build ## ########### ## Declare a C++ executable add_executable(${PROJECT_NAME}_node src/oryxbot_cruise_ex.cpp src/oryxbot_task.cpp src/pid_controller.cpp ) ## Add cmake target dependencies add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_gencfg ) ## Specify libraries to link against target_link_libraries(${PROJECT_NAME}_node ${catkin_LIBRARIES} ) ############# ## Install ## ############# ## Mark executables for installation install(TARGETS ${PROJECT_NAME}_node RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) ## Mark cpp header files for installation install(DIRECTORY include/${PROJECT_NAME}/ DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} FILES_MATCHING PATTERN "*.h" PATTERN ".svn" EXCLUDE ) ## Install launch files install(DIRECTORY launch/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch ) ## Install config files install(DIRECTORY cfg/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/cfg ) ``` ### 主要修改说明： 1. **移除了所有测试部分**： - 完全删除了 `if(CATKIN_ENABLE_TESTING)` 块及其所有内容 - 移除了 `find_package(rostest REQUIRED)` - 移除了所有测试相关的可执行文件和测试配置 2. **修复了Eigen3依赖**： - 确保 `find_package(Eigen3 REQUIRED)` 在文件顶部 - 添加了手动设置Eigen3路径的回退逻辑 - 在 `include_directories` 中正确包含 `${EIGEN3_INCLUDE_DIRS}` 3. **简化了目标链接**： - 移除了 `${EIGEN3_LIBRARIES}` 的链接（Eigen3是纯头文件库，不需要链接） - 简化了 `target_link_libraries` 只保留必要的 `${catkin_LIBRARIES}` 4. **优化了结构**： - 移除了重复的 `include_directories` 声明 - 移除了注释掉的代码块 - 确保所有依赖项在 `catkin_package` 中正确声明 ### 下一步操作建议： 1. 将上述内容复制到您的 `CMakeLists.txt` 文件中 2. 确保 `package.xml` 包含所有必要的依赖项： ```xml <build_depend>eigen3</build_depend> <build_depend>tf</build_depend> <build_depend>control_toolbox</build_depend> <build_depend>angles</build_depend> <build_depend>nav_msgs</build_depend> <build_depend>dynamic_reconfigure</build_depend> <build_export_depend>eigen3</build_export_depend> <build_export_depend>tf</build_export_depend> <build_export_depend>control_toolbox</build_export_depend> <build_export_depend>angles</build_export_depend> <build_export_depend>nav_msgs</build_export_depend> <build_export_depend>dynamic_reconfigure</build_export_depend> <exec_depend>eigen3</exec_depend> <exec_depend>tf</exec_depend> <exec_depend>control_toolbox</exec_depend> <exec_depend>angles</exec_depend> <exec_depend>nav_msgs</exec_depend> <exec_depend>dynamic_reconfigure</exec_depend> ``` 3. 重新构建项目： ```bash cd ~/ros_workspace catkin clean oryxbot_cruise_ex catkin build oryxbot_cruise_ex ``` ### 验证修复： 构建成功后，您应该看到类似以下的输出： ```log -- Found Eigen3: /usr/include/eigen3 (found version 3.3.7) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Configuring done -- Generating done -- Build files have been written to: /home/bobac3/ros_workspace/build ```