创建工作空间,并将环境变量设置到终端启动配置文件bashrc中
mkdir -p ~/catkin_ws/src
cd ~/caktin_ws/src
catkin_init_workspace
cd ~/catkin_ws
catkin_make
echo "export ROS_PACKAGE_PATH=~/catkin_ws/src:$ROS_PACKAGE_PATH" >> ~/.bashrc
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
这里如果没有最后两句,最常见的问题就是roscd、rosrun或roslaunch的时候,ROS经常找不到package或是可执行文件,希望大家在建立自己的工作空间后,就加入到bashrc中,把它当做一个流程化的操作。最后保证自己的~/.bashrc最后像这样就可以了。
创建package
语法规则:catkin_create_pkg <package_name> [depend1] [depend2] [depend3]
$ cd ~/catkin_ws/src
$ catkin_create_pkg beginner_tutorials std_msgs rospy roscpp
查看package的依赖项
$ rospack depends1 beginner_tutorials
$ rospack depends beginner_tutorials
另外,如果想单独编译某个package的时候
catkin_make -DCATKIN_WHITELIST_PACKAGES=“beginner_tutorials; package_name2”<span style="font-size:18px;"></span>
编译全部package
catkin_make -DCATKIN_WHITELIST_PACKAGES=“ ”