流程：

1.创建工作空间

mkdir catkin_ws
cd catkin_ws
mkdir src
cd src
catkin_init_workspace
2编译工作空间
cd ~/catkin_ws/
catkin_make
catkin_make install

首先对ROS进行创建一个元功能包
3.设置环境变量

source devel/setup.bash

source devel/setup.bash

4.创建功能包

cd ~/catkin_ws/src
catkin_create_pkg test_pkg std_msgs rospy roscpp

5将C++中的include lib src都复制到新创建的功能包下

最主要的是对CMakeLists.txt进行重新编辑

原来的CMakeLists.txt

cmake_minimum_required(VERSION 3.16)
project(coffee_robot)
set(CMAKE_CXX_STANDARD 14)

include_directories(${CMAKE_SOURCE_DIR} ./include)

# 生成可执行文件

add_executable(coffee_robot ./src/main.cpp
                            ./src/Robot.cpp
                             ./src/cJSON.c
        )
target_link_libraries(coffee_robot  ${CMAKE_SOURCE_DIR}/lib/libFaAo.so ${CMAKE_SOURCE_DIR}/lib/libRobotContorl.so -lpthread)
${CMAKE_SOURCE_DIR}/lib/libFaAo.so ${CMAKE_SOURCE_DIR}/lib/libRobotContorl.so -lpthread)

新的CMakeLists.txt

include_directories(${CMAKE_SOURCE_DIR}/coffee_robot/include/coffee_robot)

# # 生成可执行文件

add_executable(coffee_robot ${CMAKE_SOURCE_DIR}/coffee_robot/src/main.cpp
                            ${CMAKE_SOURCE_DIR}/coffee_robot/src/Robot.cpp
                            ${CMAKE_SOURCE_DIR}/coffee_robot/src/cJSON.c
        )
target_link_libraries(coffee_robot  ${CMAKE_SOURCE_DIR}/coffee_robot/lib/libFaAo.so
                                    ${CMAKE_SOURCE_DIR}/coffee_robot/lib/libRobotContorl.so -lpthread)

注意

ROS中创建功能包的时候创建了CMakeLists.txt，所以这个路径是表示${CMAKE_SOURCE_DIR}功能包的CMakeLists.txt，所以要进到节点下的应该这么用

${CMAKE_SOURCE_DIR}/coffee_robot/src/main.cpp

所以你移动过来的CMakeLists.txt应该都加上你的目录

不知道大家看懂了麻 ，说白了是路径的问题