CMakeLists.txt如何包含路径

Question

我有一个具有以下结构的项目：

CMakeLists.txt
|--topics
     |-- talker.cpp
     |-- task.hpp
     |-- ...

talker.cpp 具有#include "task.hpp"

task.hpp 具有#include <alchemy/timer.h>这个 timer.h 在我的项目结构之外： / usr / xenomai / include / alchemy / timer.h

因此，当我尝试编译时，我得到了：

/.../topics/timer.hpp:15:27: fatal error: alchemy/timer.h: 
file or directory not found #include <alchemy/timer.h>

在CMakeLists.txt中包含此路径的正确方法是什么？

我的CMakeLists.txt：

cmake_minimum_required(VERSION 3.5)
project(demo_nodes_cpp)
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

find_library(ALCHEMY_LIB alchemy /usr/xenomai/lib)
find_library(XENOMAI_ALCHEMY xeno_alchemy /usr/xenomai/include)
find_library(TRANK_LIB trank /usr/xenomai/inbclude/trunk) 

include_directories(usr/xenomai/include/)

find_package(ament_cmake REQUIRED)
find_package(example_interfaces REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rcutils)
find_package(rmw REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(std_msgs REQUIRED)

function(custom_executable subfolder target)
  add_executable(${target} src/${subfolder}/${target}.cpp)
  target_link_libraries(${target} "${ALCHEMY_LIB} ${XENOMAI_ALCHEMY}")
  ament_target_dependencies(${target}
    "example_interfaces"
    "rclcpp"
    "rcutils"
    "std_msgs")
  install(TARGETS ${target}
  DESTINATION lib/${PROJECT_NAME})
endfunction()

# Tutorials of Publish/Subscribe with Topics
custom_executable(topics talker)
custom_executable(topics listener)
custom_executable(topics listener_best_effort)
custom_executable(topics imu_listener)
ament_target_dependencies(imu_listener
  "sensor_msgs")
custom_executable(topics allocator_tutorial)
custom_executable(topics talker_serialized_message)
custom_executable(topics listener_serialized_message)

# Tutorials of Request/Response with Services
custom_executable(services add_two_ints_client)
custom_executable(services add_two_ints_client_async)
custom_executable(services add_two_ints_server)

# Tutorials of Parameters with Asynchronous and Synchronous
custom_executable(parameters list_parameters)
custom_executable(parameters list_parameters_async)
custom_executable(parameters parameter_events)
custom_executable(parameters parameter_events_async)
custom_executable(parameters parameter_node)
custom_executable(parameters set_and_get_parameters)
custom_executable(parameters set_and_get_parameters_async)

# Tutorials of Timers
custom_executable(timers one_off_timer)
custom_executable(timers reuse_timer)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  ament_lint_auto_find_test_dependencies()

  find_package(ament_cmake_pytest REQUIRED)
  find_package(rmw_implementation_cmake REQUIRED)

  # Add each test case.  Multi-executable tests can be specified in
  # semicolon-separated strings, like  exe1;exe2.
  set(tutorial_tests
    list_parameters_async
    list_parameters
    parameter_events_async
    parameter_events
    set_and_get_parameters_async
    set_and_get_parameters
    "talker:listener")
  set(service_tutorial_tests
    "add_two_ints_server:add_two_ints_client"
    "add_two_ints_server:add_two_ints_client_async"
  )

  macro(tests)
    set(tutorial_tests_to_test ${tutorial_tests})
    list(APPEND tutorial_tests_to_test ${service_tutorial_tests})

    foreach(tutorial_test ${tutorial_tests_to_test})
      string(REPLACE ":" ";" tutorial_executables "${tutorial_test}")
      set(DEMO_NODES_CPP_EXPECTED_OUTPUT "")
      foreach(executable ${tutorial_executables})
        list(APPEND DEMO_NODES_CPP_EXPECTED_OUTPUT     "${CMAKE_CURRENT_SOURCE_DIR}/test/${executable}")
      endforeach()

      set(DEMO_NODES_CPP_EXECUTABLE "")
      foreach(executable ${tutorial_executables})
        list(APPEND DEMO_NODES_CPP_EXECUTABLE "$<TARGET_FILE:${executable}>")
      endforeach()

      string(REPLACE ";" "_" exe_list_underscore "${tutorial_executables}")
      configure_file(
    test/test_executables_tutorial.py.in
    test_${exe_list_underscore}${target_suffix}.py.configured
    @ONLY
  )
  file(GENERATE
    OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/test_${exe_list_underscore}${target_suffix}_$<CONFIG>.py"
    INPUT "${CMAKE_CURRENT_BINARY_DIR}/test_${exe_list_underscore}${target_suffix}.py.configured"
  )

  ament_add_pytest_test(test_tutorial_${exe_list_underscore}${target_suffix}
    "${CMAKE_CURRENT_BINARY_DIR}/test_${exe_list_underscore}${target_suffix}_$<CONFIG>.py"
    TIMEOUT 30
    ENV
    RCL_ASSERT_RMW_ID_MATCHES=${rmw_implementation}
    RMW_IMPLEMENTATION=${rmw_implementation})
  foreach(executable ${tutorial_executables})
    set_property(
      TEST test_tutorial_${exe_list_underscore}${target_suffix}
      APPEND PROPERTY DEPENDS ${executable}${target_suffix})
  endforeach()
endforeach()
  endmacro()

  call_for_each_rmw_implementation(tests)
endif()

# Install launch files.
install(DIRECTORY
  launch
  DESTINATION share/${PROJECT_NAME}/
)

ament_package()