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In rosbuild, to build the library you use rosbuild_add_library shown here, which is similar to the standard CMake add_library function. Then to make it available to other ros packages, you add the library linker arguments to a <cpp> export tag in the package's manifest.xml shown here.

In catkin, you use the normal add_library CMake function to build the library. Then to make the library available to other ros packages, you add the library target to the LIBRARIES arguments of a call to the catkin_package CMake macro, shown here.