ROS入门记录 [2]

Tutorial——Beginner Level 1

1. Installing and Configuring Your ROS Environment

ROS入门记录1

2. Navigating the ROS Filesystem

$ rospack find roscpp
$ roscd roscpp
$ rosls roscpp

# rospack = ros + pack(age)
# roscd = ros + cd
# rosls = ros + ls

3. Creating a ROS Package

a catkin Package consist of :

• package.xml. That package.xml file provides meta information about the package.
• CMakeLists.txt. There can be no more than one package in each folder.

This means no nested packages nor multiple packages sharing the same directory. Most simplest package’s instructure might be like this:

my_package/
  CMakeLists.txt
  package.xml

---

A trivial workspace might look like this:

workspace_folder/        -- WORKSPACE
  src/                   -- SOURCE SPACE
    CMakeLists.txt       -- 'Toplevel' CMake file, provided by catkin
    package_1/
      CMakeLists.txt     -- CMakeLists.txt file for package_1
      package.xml        -- Package manifest for package_1
    ...
    package_n/
      CMakeLists.txt     -- CMakeLists.txt file for package_n
      package.xml        -- Package manifest for package_n

catkin_create_pkg

$ cd catkin_ws/src

catkin_create_pkg beginner_tutorials std_msgs rospy roscpp
# catkin_create_pkg <package_name> [depend1] [depend2] [depend3]

$ cd ../catkin_ws
$ catkin_make

$ . ~/catkin_ws/devel/setup.bash

---

When using catkin_create_pkg earlier, a few package dependencies were provided. These first-order dependencies can now be reviewed with the rospack tool.

$ rospack depends1 beginner_tutorials 

std_msgs
rospy
roscpp

# 初次使用会报错，会建议你 sudo rosdep init

如果使用了proxy网络代理

# sudo rosdep init  will report error 
# rosdep init  ERROR: cannot download default sources list from
# 需要sudo使用 -E 来保留 环境变量配置 ，如之前设置过的 export http_proxy=x:y

$ sudo -E rosdep init

$ rosdep update

$ rospack depends1 beginner_tutorials  # 可得到上述相应依赖包

$ roscd beginner_tutorials
$ vi package.xml

<package>