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【学习笔记】解决编译 Serial Communication Library 时的 Catkin 依赖问题
Serial Communication Library 是一个用 C++ 编写的用于连接类似 rs-232 串口的跨平台库。它提供了一个现代的 C++ 接口，它的工作流程设计在外观和感觉上与 PySerial 相似，但串口速率和控制由 C++ 提供。
github 地址：
https://github.com/wjwwood/serial Serial Communication Library 在多个机器人相关项目中使用，可以像大多数 unix 库一样通过 make 和 sudo make install 构建并安装到操作系统中，但因为它是一个 catkin 项目，所以也可以在 catkin 工作区中与其他 catkin 项目一起构建。
我使用 cmake 来编译这个工程，会有如下的错误：
CMake Error at CMakeLists.txt:5 (find_package): By not providing "Findcatkin.cmake" in CMAKE_MODULE_PATH this project has asked CMake to find a package configuration file provided by "catkin", but CMake did not find one. Could not find a package configuration file provided by "catkin" with any of the following names: catkinConfig.cmake catkin-config.cmake Add the installation prefix of "catkin" to CMAKE_PREFIX_PATH or set "catkin_DIR" to a directory containing one of the above files. If "catkin" provides a separate development package or SDK, be sure it has been installed. 可以看到，必须安装相应的 Catkin 环境才可以编译，因为我没有安装 Catkin 环境，所以没办法编译成功。但是我不想依赖 Catkin，所以就去寻找了去除 Catkin 依赖的方法。
我在这个github项目的 Issues 中看到了很多人也有这个需求，最后在这里Remove Catkin dependency while keeping CMake’s find_package() feature by dbolkensteyn · Pull Request #133 · wjwwood/serial · GitHub中找到了解决方案，只需要修改 CMakeLists.txt 就可以删除Catkin依赖。
CMakeLists.txt 中需要修改的地方对比图如下：
最后将 CMakeLists.txt 修改成如下：
cmake_minimum_required(VERSION 2.8.3) project(serial) if(APPLE) find_library(IOKIT_LIBRARY IOKit) find_library(FOUNDATION_LIBRARY Foundation) endif() ## Sources set(serial_SRCS src/serial.cc include/serial/serial.h include/serial/v8stdint.h ) if(APPLE) # If OSX list(APPEND serial_SRCS src/impl/unix.cc) list(APPEND serial_SRCS src/impl/list_ports/list_ports_osx.cc) elseif(UNIX) # If unix list(APPEND serial_SRCS src/impl/unix.cc) list(APPEND serial_SRCS src/impl/list_ports/list_ports_linux.cc) else() # If windows list(APPEND serial_SRCS src/impl/win.cc) list(APPEND serial_SRCS src/impl/list_ports/list_ports_win.cc) endif() ## Add serial library add_library(${PROJECT_NAME} STATIC ${serial_SRCS}) if(APPLE) target_link_libraries(${PROJECT_NAME} ${FOUNDATION_LIBRARY} ${IOKIT_LIBRARY}) elseif(UNIX) target_link_libraries(${PROJECT_NAME} rt pthread) else() target_link_libraries(${PROJECT_NAME} setupapi) endif() ## Add example project add_executable(serial_example examples/serial_example.cc) add_dependencies(serial_example ${PROJECT_NAME}) target_link_libraries(serial_example ${PROJECT_NAME}) ## Include headers include_directories(include) ## Install set(INSTALL_LIB_DIR lib) set(INSTALL_INCLUDE_DIR include) set(INSTALL_CMAKE_DIR share/serial/cmake) ## Install executable install(TARGETS ${PROJECT_NAME} DESTINATION ${INSTALL_LIB_DIR} EXPORT ${PROJECT_NAME}-targets ) ## Install headers install(FILES include/serial/serial.h include/serial/v8stdint.h DESTINATION ${INSTALL_INCLUDE_DIR}/serial) ## Install CMake files install(EXPORT ${PROJECT_NAME}-targets DESTINATION ${INSTALL_CMAKE_DIR}) include(CMakePackageConfigHelpers) write_basic_package_version_file(${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Version.cmake VERSION 1.2.1 COMPATIBILITY AnyNewerVersion) install(FILES ${CMAKE_SOURCE_DIR}/cmake/${PROJECT_NAME}Config.cmake ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Version.cmake DESTINATION ${INSTALL_CMAKE_DIR}) ## Tests # FIXME #if(CATKIN_ENABLE_TESTING) # add_subdirectory(tests) #endif() 修改完之后重新 cmake 就可以了。
本文链接：https://blog.csdn.net/u012028275/article/details/140701592
