QT Cmake添加srv和msg

1 CmakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(map_msgs)

find_package(catkin REQUIRED
  COMPONENTS
    std_msgs
    sensor_msgs
    nav_msgs
    message_generation
)

add_message_files(
  FILES
NaviStatusCode.msg
NaviStatusResponse.msg
)
add_service_files(
  FILES
String.srv
NaviStatusSwitch.srv
)

generate_messages(
  DEPENDENCIES
    std_msgs
    sensor_msgs
    nav_msgs
)

catkin_package(
  CATKIN_DEPENDS
    std_msgs
    message_runtime
    sensor_msgs
    nav_msgs
)

install(
  DIRECTORY include/${PROJECT_NAME}/
  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
  FILES_MATCHING PATTERN "*.h"
)

2 package.xml

<package>
    <name>map_msgs</name>
    <version>1.13.0</version>
    <description>  This package defines messages commonly used in mapping packages</description>
    <author>Unknow</author>
    <maintainer email="Unknow@126.com">Unknow</maintainer>
    <license>Unknow</license>

    <buildtool_depend>catkin</buildtool_depend>

    <build_depend>message_generation</build_depend>
    <build_depend>std_msgs</build_depend>
    <build_depend>sensor_msgs</build_depend>
    <build_depend>nav_msgs</build_depend>

    <run_depend>message_runtime</run_depend>
    <run_depend>std_msgs</run_depend>
    <run_depend>sensor_msgs</run_depend>
    <run_depend>nav_msgs</run_depend>

</package>

3链接常见错误

如果在工程中添加消息或者服务，头文件依赖其生成的头文件，直接编译会报错，必须在CmakeLists.txt中添加以下依赖 generate_messages_cpp，生成可执行程序之前首先编译生成消息头文件

add_dependencies(${PROJECT_NAME}
    ${catkin_EXPORTED_TARGETS}
    ${PROJECT_NAME}_generate_messages_cpp
)