自定义RobotCar.h和RobotCar.cpp文件test.cpp引用RobotCar对CmakeLists.txt进行配置:1. 存放头文件组织结构如下首先将头文件RobotCar.h文件存放到功能包文件夹(car_coop_nav)下的include文件夹下的功能包名文件夹内存放头文件(vehicle_ws/src/car_coop_nav/include/driver/RobotCar.h)2.存放源文件cpp将源文件RobotCar.cpp存放到功能包文件夹下的src文件夹内存放源文件(vehicle_ws/src/car_coop_nav/src/RobotCar.cpp)3.配置CmakeLists.txt首先将include_directories进行修改把include前面的#去掉include_directories( include ${catkin_INCLUDE_DIRS} )然后添加静态库add_library(RobotCar include/driver/RobotCar.h src/RobotCar.cpp )4. 调用最后将需要调用库Coop_Navigation( vehicle_ws/src/car_coop_nav/src/Coop_Navigation.cpp)的节点car_coop_nav_node2 的链接库中加上RobotCar库add_executable(car_coop_nav_node2 src/Coop_Navigation.cpp) target_link_libraries(car_coop_nav_node2 RobotCar ${catkin_LIBRARIES} )