Another difference with respect to a common ROS node regards the compilation directives included in the CMakeLists.txt file. To build the calculator plugins and loader nodes, we should add the following lines in CMakeLists.txt:
## pluginlib_tutorials library
add_library(pluginlib_calculator src/calculator_plugins.cpp)
target_link_libraries(pluginlib_calculator ${catkin_LIBRARIES})
## calculator_loader executable
add_executable(calculator_loader src/calculator_loader.cpp)
target_link_libraries(calculator_loader ${catkin_LIBRARIES})
We are almost done with all the settings, and now it's time to build the package using the catkin_make command.
