1 说明
cmake 经常需要添加依赖库，但是不知如何确定依赖的库名称，如何编写
2 环境
ubuntu 机器
3 依赖方法
以 dbus 为例
3.1、确定库的名字
通过dpkg 命令搜索库名，如下所示，确定libdbus-1-dev 为自己需要的版本
user@ebaaa3966495:/home/sky/develop/robot$ dpkg -l |grep dbus
ii at-spi2-core 2.36.0-2 amd64 Assistive Technology Service Provider Interface (dbus core)
ii dbus 1.12.16-2ubuntu2.3 amd64 simple interprocess messaging system (daemon and utilities)
ii dbus-user-session 1.12.16-2ubuntu2.2 amd64 simple interprocess messaging system (systemd --user integration)
ii libdbus-1-3:amd64 1.12.16-2ubuntu2.3 amd64 simple interprocess messaging system (library)
ii libdbus-1-dev:amd64 1.12.16-2ubuntu2.3 amd64 simple interprocess messaging system (development headers)
ii libqt5dbus5:amd64 5.12.8+dfsg-0ubuntu2.1 amd64 Qt 5 D-Bus module
ii python3-dbus 1.2.16-1build1 amd64 simple interprocess messaging system (Python 3 interface)3.2 查看库支持cmake 的添加方式
一般camke 支持 find_package、pkg_check_modules 两种方式
user@ebaaa3966495:/home/sky/develop/robot$ dpkg -L libdbus-1-dev
/.
/usr
/usr/include
/usr/include/dbus-1.0
/usr/include/dbus-1.0/dbus
/usr/include/dbus-1.0/dbus/dbus-address.h
/usr/lib/x86_64-linux-gnu/cmake/DBus1/DBus1Config.cmake
/usr/lib/x86_64-linux-gnu/cmake/DBus1/DBus1ConfigVersion.cmake
/usr/lib/x86_64-linux-gnu/dbus-1.0
/usr/lib/x86_64-linux-gnu/dbus-1.0/include/dbus/dbus-arch-deps.h
/usr/lib/x86_64-linux-gnu/libdbus-1.a
/usr/lib/x86_64-linux-gnu/pkgconfig
/usr/lib/x86_64-linux-gnu/pkgconfig/dbus-1.pc其中，关键词 .cmake 代表支持 find_package 方式
pkgconfig 代表支持 pkg_check_modules 方式
/usr/lib/x86_64-linux-gnu/cmake/DBus1/DBus1Config.cmake
/usr/lib/x86_64-linux-gnu/pkgconfig
/usr/lib/x86_64-linux-gnu/pkgconfig/dbus-1.pc
所以，dbus-1 支持2种方式
3.3 编写对应的cmake 库依赖
find_package(DBus1 REQUIRED) # 自动查找依赖库# 最终的执行文件添加依赖
ament_target_dependencies(DBus1
)
ament_package()
3.4 延伸
同理查看glib2.0 的依赖方式
user@ebaaa3966495:/home/sky/develop/robot$ dpkg -l |grep glib
ii gir1.2-glib-2.0:amd64 1.64.1-1~ubuntu20.04.1
ii libavahi-glib1:amd64 0.7-4ubuntu7.1
ii libglib2.0-0:amd64 2.64.6-1~ubuntu20.04.4 amd64 GLib library of C routines
ii libglib2.0-bin 2.64.6-1~ubuntu20.04.4 amd64 Programs for the GLib library
ii libglib2.0-data 2.64.6-1~ubuntu20.04.4 all Common files for GLib library
ii libglib2.0-dev:amd64 2.64.6-1~ubuntu20.04.4 amd64 Development files for the GLib library
ii libglib2.0-dev-bin 2.64.6-1~ubuntu20.04.4 amd64 Support library to use the Qualcomm MSM Interface (QMI) protocoluser@ebaaa3966495:/home/sky/develop/robot$ dpkg -L libglib2.0-dev
/.
/usr
/usr/include
/usr/include/gio-unix-2.0
/usr/include/gio-unix-2.0/gio
...
/usr/lib/x86_64-linux-gnu/pkgconfig
/usr/lib/x86_64-linux-gnu/pkgconfig/gio-2.0.pc
glib2.0 只有 pkgconfig支持，所以依赖的方式
# 其中 glib-2.0 为具体的库名
pkg_check_modules(glib REQUIRED glib-2.0)ament_target_dependencies(DBus1glib
)
ament_package()
