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目录

零.前置篇章 

一.make的由来

二.安装make        

三.编写Makefile

四.编译运行

五.删除可执行文件

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零.前置篇章 

1.  第一篇【Linux快速入门】Linux与ROS学习之编译基础（gcc编译）_linux+ros-CSDN博客

一.make的由来

        "make"是一个用于自动化构建软件的工具，通常用于编译和构建程序。当你运行make命令时，make工具会查找当前目录下的Makefile文件，该文件包含了编译程序所需的指令和规则。

        make起初是人们为了简化g++编译而发明出来的批处理工具，通过其自动调用指令而进行编译。

二.安装make        

sudo apt install make

三.编写Makefile

        进入到d2lros2/d2lros2/chapt2/basic下使用vim新建Makefile。

        然后将上一篇中的的g++编译指令用下面的形式写到Makefile里（最好要熟悉或者会使用基础的vim指令）。

build:g++ first_ros2_node.cpp \-I/opt/ros/jazzy/include/rclcpp/ \-I /opt/ros/jazzy/include/rcl/ \-I /opt/ros/jazzy/include/rcutils/ \-I /opt/ros/jazzy/include/rmw \-I /opt/ros/jazzy/include/rcl_yaml_param_parser/ \-I /opt/ros/jazzy/include/rosidl_runtime_c \-I /opt/ros/jazzy/include/rosidl_typesupport_interface \-I /opt/ros/jazzy/include/rcpputils \-I /opt/ros/jazzy/include/builtin_interfaces \-I /opt/ros/jazzy/include/rosidl_runtime_cpp \-I /opt/ros/jazzy/include/tracetools \-I /opt/ros/jazzy/include/rcl_interfaces \-I /opt/ros/jazzy/include/libstatistics_collector \-I /opt/ros/jazzy/include/statistics_msgs \-I /opt/ros/jazzy/include/service_msgs/ \-I /opt/ros/jazzy/include/type_description_interfaces/ \-I /opt/ros/jazzy/include/rosidl_dynamic_typesupport/ \-I /opt/ros/jazzy/include/rosidl_typesupport_introspection_cpp/ \-L /opt/ros/jazzy/lib/ \-lrclcpp -lrcutils  \-o first_node#编译执行完后立刻删除first_node
clean:rm first_node

四.编译运行

        键入以下命令即可编译生成可执行文件：

make build

运行该文件：

./first_node

开启新终端，可查看ros节点列表：

ros2 node list

 

五.删除可执行文件

make clean