这篇博客解决一个通用性问题：利用cmake编译c++工作空间时，错把一些用的比较多的、比较知名的库当做“包”，导致编译错误，下面以ipopt为例。
报错
安装完ipopt库后，编译自己的包报错，找不到ipopt这个“包”，报错如下：
A required package was not found ... cmake/FindIPOPT.cmake:3 (pkg_check_modules)
Errors << path_tracking:check /home/bit/test/logs/path_tracking/build.check.000.log CMake Error at /usr/share/cmake-3.10/Modules/FindPkgConfig.cmake:419 (message): A required package was not found Call Stack (most recent call first): /usr/share/cmake-3.10/Modules/FindPkgConfig.cmake:597 (_pkg_check_modules_internal) cmake/FindIPOPT.cmake:3 (pkg_check_modules) CMakeLists.txt:19 (find_package) make: *** [cmake_check_build_system] Error 1 cd /home/bit/test/build/path_tracking; catkin build --get-env path_tracking | catkin env -si /usr/bin/make cmake_check_build_system; cd - .................................................................................................................................................................................................................................................................................. Failed << path_tracking:check [ Exited with code 2 ] Failed <<< path_tracking [ 3.1 seconds ] [build] Summary: 8 of 9 packages succeeded. [build] Ignored: 49 packages were skipped or are blacklisted. [build] Warnings: None. [build] Abandoned: None. [build] Failed: 1 packages failed. [build] Runtime: 11.4 seconds total.
其中：CMakeLists.txt中配置ipopt如下：
find_package(IPOPT REQUIRED) #hxz
target_link_libraries(${PROJECT_NAME}_node ${catkin_LIBRARIES} ${IPOPT_LIBRARIES} ${controllib_LIBRARIES})#hxz
报错原因：
ipopt是一个非线性优化库，即库文件，不是ros的package，自然不能够被当做包被找到；只要把ipopt对应的库文件在CMakeLists.txt中配置好即可
修改如下：
#find_package(IPOPT REQUIRED) #hxz
#target_link_libraries(${PROJECT_NAME}_node ${catkin_LIBRARIES} ${IPOPT_LIBRARIES} ${controllib_LIBRARIES})#hxz
target_link_libraries(${PROJECT_NAME}_node ${catkin_LIBRARIES} ${controllib_LIBRARIES} /usr/lib/libipoptamplinterface.so.1 /usr/local/lib/libipoptamplinterface.so.0 /usr/local/lib/libipoptamplinterface.so /usr/lib/libipoptamplinterface.so /usr/lib/libipopt.so.1 /usr/local/lib/libipopt.so.0 /usr/local/lib/libipopt.so /usr/lib/libipopt.so)
（1）注释掉find_package()
（2）将${controllib_LIBRARIES}替换为对应的ipopt库文件，这些库文件可以通过下面命令查找：
ldconfig -p | grep libipopt
（注：复制右边的绝对路径即可）
bit@ubuntu:~$ ldconfig -p | grep libipopt libipoptamplinterface.so.1 (libc6,AArch64) => /usr/lib/libipoptamplinterface.so.1 libipoptamplinterface.so.0 (libc6,AArch64) => /usr/local/lib/libipoptamplinterface.so.0 libipoptamplinterface.so (libc6,AArch64) => /usr/local/lib/libipoptamplinterface.so libipoptamplinterface.so (libc6,AArch64) => /usr/lib/libipoptamplinterface.so libipopt.so.1 (libc6,AArch64) => /usr/lib/libipopt.so.1 libipopt.so.0 (libc6,AArch64) => /usr/local/lib/libipopt.so.0 libipopt.so (libc6,AArch64) => /usr/local/lib/libipopt.so libipopt.so (libc6,AArch64) => /usr/lib/libipopt.so
注：ipopt安装见另一篇博客https://blog.csdn.net/BIT_HXZ/article/details/124104568
@meng
