1、rosmake编译包package
1.1、创建工作空间
在开始具体工作之前，首先创建工作空间，并且为工作空间设置环境变量到~/.bashrc中，如果要查看已有的空间路径，可以用查询命令
$ echo $ROS_PACKAGE_PATH
你将会看到如下的信息：
/home/horsetail/dev/rosbook:/home/horsetail/catkin_ws/src:/opt/ros/jade/share:/opt/ros/jade/stacks
这里的创建空间实际上就是先建立一个文件夹，然后把文件夹的路径设置到环境变量~/.bashrc中。例如我们这里创建目录~/dev/rosbook作为工作空间。
首先执行命令：
$ cd ~
$ mkdir -p dev/rosbook
然后将创建的路径加入到环境变量中，执行如下命令：
$ echo "export ROS_PACKAGE_PATH=~/dev/rosbook:${ROS_PACKAGE_PATH}" >> ~/.bashrc
$ . ~/.bashrc
这样，我们就完成了工作空间的配置，注意：ROS安装的时候，一定要把ROS的环境变量也加到~/.bashrc中。这里还需要把ROS。接下来就是在这个空间下创建包了。
1.2、创建包
可以手动创建包，但是非常的繁琐，为了方便，最好使用roscreate-pkg命令行工具，该命令行的格式如下：
roscreate-pkg[package_name] [depend1] [depend2] [depend3] ...
命令行包含了要创建包的名字，依赖包。
我们的例子中，创建一个叫mypacakge1的新包，命令如下：
$ cd ~/dev/rosbook
$ roscreate-pkgmypackage1 std_msgs roscpp rospy
过一会弹出如下的信息，表示创建成功：
Created packagedirectory /home/horsetail/dev/rosbook/mypackage1
Created include directory/home/horsetail/dev/rosbook/mypackage1/include/mypackage1
Created cpp source directory /home/horsetail/dev/rosbook/mypackage1/src
Created package file /home/horsetail/dev/rosbook/mypackage1/Makefile
Created package file /home/horsetail/dev/rosbook/mypackage1/manifest.xml
Created package file /home/horsetail/dev/rosbook/mypackage1/CMakeLists.txt
Created package file /home/horsetail/dev/rosbook/mypackage1/mainpage.dox
Please editmypackage1/manifest.xml and mainpage.dox to finish creating your package
好了这样就完成了包的创建，我们发现在mypackage1的目录下有一个src文件夹，我们接下来就是网这里添加源程序了。
1.3、代码编辑和编译
参考ROS官方网站的教程，我们编写一个编写简单的消息发布器和订阅器 (C++)，即编写俩个源文件talker.cpp和listener.cpp，并将他们保存到~/dev/rosbook/mypackage1/src目录中。
代码理解可以参考ROS_wiki：http://wiki.ros.org/cn/ROS/Tutorials/WritingPublisherSubscriber%28c%2B%2B%29
发布器就是一个说话者talker，/mypackage1/srctalker.cpp代码如下：
#include "ros/ros.h"
#include "std_msgs/String.h"
#include<sstream>
int main(int argc,char **argv)
{
ros::init(argc, argv, "talker");
ros::NodeHandle n;
ros::Publisher chatter_pub =n.advertise<std_msgs::String>("chatter", 1000);
ros::Rate loop_rate(10);
int count = 0;
while (ros::ok())
{
std_msgs::String msg;
std::stringstream ss;
ss << "hello world " << count;
msg.data = ss.str();
ROS_INFO("%s", msg.data.c_str());
chatter_pub.publish(msg);
ros::spinOnce();
loop_rate.sleep();
++count;
}
return 0;
}
订阅者就是一个听话人listener，他不停地接受talker广播出来的消息，并显示到屏幕上，/mypackage1/srclistener.cpp的代码为：
include "ros/ros.h"
#include "std_msgs/String.h"
void chatterCallback(conststd_msgs::String::ConstPtr& msg)
{
ROS_INFO("I heard: [%s]", msg->data.c_str());
}
int main(int argc,char **argv)
{
ros::init(argc, argv, "listener");
ros::NodeHandle n;
ros::Subscriber sub = n.subscribe("chatter", 1000, chatterCallback);
ros::spin();
return 0;
}
好了，把上面的源文件放到mypackage1/src下就可以了。
接下来，要告诉编译器如何去找到这两个文件。你需要打开mypackage1/CMakeLists.txt，在文件的末尾添加两行命令：
rosbuild_add_executable(talkersrc/talker.cpp)
rosbuild_add_executable(listenersrc/listener.cpp)
添加后的文件结构是这样的：
cmake_minimum_required(VERSION2.4.6)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
# Set the buildtype. Options are:
# Coverage : w/ debug symbols, w/ooptimization, w/ code-coverage
# Debug : w/ debug symbols, w/ooptimization
# Release : w/o debug symbols, w/optimization
# RelWithDebInfo : w/debug symbols, w/ optimization
# MinSizeRel : w/o debug symbols, w/optimization, stripped binaries
#set(ROS_BUILD_TYPERelWithDebInfo)
rosbuild_init()
#set the defaultpath for built executables to the "bin" directory
set(EXECUTABLE_OUTPUT_PATH${PROJECT_SOURCE_DIR}/bin)
#set the defaultpath for built libraries to the "lib" directory
set(LIBRARY_OUTPUT_PATH${PROJECT_SOURCE_DIR}/lib)
#uncomment if you have defined messages
rosbuild_genmsg()
#uncomment if you have defined services
rosbuild_gensrv()
#common commands for building c++ executables and libraries
#rosbuild_add_library(${PROJECT_NAME}src/example.cpp)
#target_link_libraries(${PROJECT_NAME}another_library)
#rosbuild_add_boost_directories()
#rosbuild_link_boost(${PROJECT_NAME}thread)
#rosbuild_add_executable(exampleexamples/example.cpp)
#target_link_libraries(example${PROJECT_NAME})
rosbuild_add_executable(talkersrc/talker.cpp)
rosbuild_add_executable(listenersrc/listener.cpp)
万事具备，这样我们就可用rosmake命令来编译这个mypackage1包了。执行下面的命令：
$ rosmakemypackage1
输出下面的信息：
horsetail@horsetail-book:~$roscore
... logging to/home/horsetail/.ros/log/6eae5b9c-628d-11e5-8bd7-3859f9722953/roslaunch-horsetail-book-6447.log
Checking logdirectory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunchserver http://horsetail-book:44362/
ros_comm version 1.11.13
SUMMARY
========
PARAMETERS
* /rosdistro: jade
* /rosversion: 1.11.13
NODES
auto-starting newmaster
process[master]:started with pid [6459]
ROS_MASTER_URI=http://horsetail-book:11311/
...(内容太长了，省去)
[ rosmake ]Results:
[ rosmake ] Built 26 packages with 0 failures.
[ rosmake ]Summary output to directory
[ rosmake ]/home/horsetail/.ros/rosmake/rosmake_output-20150924-164014
哇，编译通过，大家注意到实际上也是用catkin进行编译的，额。我们来运行一下吧。
1.4、运行
首先打开一个新的终端，启动初始化ROS，执行命令：
$ roscore
然后再打开一个新的终端，启动talker节点，执行命令：
$ rosrunmypackage1 talker
然后再打开一个新的终端，启动listener节点，执行命令：
$ rosrunmypackage1 listener
这个时候，可以看到listener的窗口不断的接收到数据，如下图所示：
[ INFO] [1443085572.809193925]: I heard:[I am the talker node]
[ INFO] [1443085572.909233411]: I heard:[I am the talker node]
[ INFO] [1443085573.009267370]: I heard:[I am the talker node]
[ INFO] [1443085573.109118292]: I heard:[I am the talker node]
[ INFO] [1443085573.209204095]: I heard:[I am the talker node]
[ INFO] [1443085573.309314244]: I heard:[I am the talker node]
[ INFO] [1443085573.409269818]: I heard:[I am the talker node]
[ INFO] [1443085573.509309147]: I heard:[I am the talker node]
这说明talker广播的消息是能够被listener接收到的，因此程序可以正常运行了。好了，至此基于rosmake的编译和运行完成了。
2、catkin_make编译包package
catkin命令创建工作空间和包相对要复杂些，但是熟悉以后对项目的管理是非常有利的，因此官方也建议使用第二种方式。
如果是用python语言写的节点，直接把节点文档拷贝到想要的程序包里面即可。不重新编译就可成功。
如果是C++语言写的节点需要按如下方式进行处理。
2.1、创建工作空间
在开始具体工作之前，首先创建工作空间，并且为工作空间设置环境变量到~/.bashrc中，如果要查看已有的空间路径，可以用查询命令
$ echo $ROS_PACKAGE_PATH
你将会看到如下的信息：
/home/horsetail/dev/rosbook:/home/horsetail/catkin_ws/src:/opt/ros/jade/share:/opt/ros/jade/stacks
这里的创建空间实际上就是先建立一个文件夹，然后把文件夹的路径设置到环境变量~/.bashrc中。例如我们这里创建目录~/dev/rosbook作为工作空间，和第一种方法类似。
下面我们开始创建一个catkin工作空间：
$ mkdir -p ~/catkin_ws/src
$ cd~/catkin_ws/src
即使这个工作空间是空的（在'src'目录中没有任何软件包，只有一个CMakeLists.txt链接文件），你依然可以“build”它：
$ cd ~/catkin_ws/
$ catkin_make
接下来首先source一下新生成的setup.*sh文件，把它加入环境变量到~/.bashrc文件中：
$ source~/catkin_ws/devel/setup.bash
到此你的工作空间环境已经搭建完成
2.2、创建包
首先切换到之前创建的catkin工作空间中的src目录下：
$ cd ~/catkin_ws/src
现在使用catkin_create_pkg命令来创建一个名为'mypackage1'的新程序包，这个程序包依赖于std_msgs、roscpp和rospy：
$ catkin_create_pkg mypackage1 std_msgs rospyroscpp
这将会创建一个名为beginner_tutorials的文件夹，这个文件夹里面包含一个package.xml文件和一个CMakeLists.txt文件，这两个文件都已经自动包含了部分你在执行catkin_create_pkg命令时提供的信息。
和第一种方法类似类似，把1.3节中的两个talker.cpp和listener.cpp拷贝到mypackage1/src下。
接下来，要告诉编译器如何去找到这两个文件。你需要打开mypackage1/CMakeLists.txt，在文件的末尾添加命令：
include_directories(include${catkin_INCLUDE_DIRS})
add_executable(talkersrc/talker.cpp)
target_link_libraries(talker${catkin_LIBRARIES})
add_executable(listenersrc/listener.cpp)
target_link_libraries(listener${catkin_LIBRARIES})
整理后的mypackage/CMakeLists.txt内容结构如下：
cmake_minimum_required(VERSION2.8.3)
project(mypackage1)
## Find catkin andany catkin packages
find_package(catkinREQUIRED COMPONENTS roscpp rospy std_msgs)
## Declare ROSmessages and services
#add_message_files(FILESNum.msg)#默认是不注释掉的，编译会出错
#add_service_files(FILESAddTwoInts.srv)#默认是不注释掉的，编译会出错
## Generate addedmessages and services
#generate_messages(DEPENDENCIESstd_msgs)#默认是不注释掉的，编译会出错
## Declare a catkinpackage
catkin_package()
## Build talkerand listener
include_directories(include${catkin_INCLUDE_DIRS})
add_executable(talkersrc/talker.cpp)
target_link_libraries(talker${catkin_LIBRARIES})
add_dependencies(talkerbeginner_tutorials_generate_messages_cpp)
add_executable(listenersrc/listener.cpp)
target_link_libraries(listener${catkin_LIBRARIES})
add_dependencies(listenerbeginner_tutorials_generate_messages_cpp)
注意：CMakeLists.txt中的有三那个命令是保留的:
## Declare ROSmessages and services
#add_message_files(FILESNum.msg)
#add_service_files(FILESAddTwoInts.srv)
## Generate addedmessages and services
#generate_messages(DEPENDENCIESstd_msgs)
这是关于服务消息方面的，这个项目中并没有用到，因此必须要注释掉，否则编译会出现错误如下：
Base path:/home/horsetail/catkin_ws
Source space:/home/horsetail/catkin_ws/src
Build space:/home/horsetail/catkin_ws/build
Devel space:/home/horsetail/catkin_ws/devel
Install space:/home/horsetail/catkin_ws/install
####
#### Runningcommand: "makecmake_check_build_system" in "/home/horsetail/catkin_ws/build"
####
-- UsingCATKIN_DEVEL_PREFIX: /home/horsetail/catkin_ws/devel
-- UsingCMAKE_PREFIX_PATH: /home/horsetail/catkin_ws/devel;/opt/ros/jade
-- This workspaceoverlays: /home/horsetail/catkin_ws/devel;/opt/ros/jade
-- UsingPYTHON_EXECUTABLE: /usr/bin/python
-- Using DebianPython package layout
-- Using empy:/usr/bin/empy
-- UsingCATKIN_ENABLE_TESTING: ON
-- Callenable_testing()
-- UsingCATKIN_TEST_RESULTS_DIR: /home/horsetail/catkin_ws/build/test_results
-- Found gtestsources under '/usr/src/gtest': gtests will be built
-- Using Pythonnosetests: /usr/bin/nosetests-2.7
-- catkin 0.6.14
--BUILD_SHARED_LIBS is on
--~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~ traversing 1packages in topological order:
-- ~~ - mypackage1
--~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processingcatkin package: 'mypackage1'
-- ==>add_subdirectory(mypackage1)
CMake Error atmypackage1/CMakeLists.txt:8 (add_message_files):
Unknown CMake command "add_message_files".
-- Configuringincomplete, errors occurred!
See also "/home/horsetail/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/horsetail/catkin_ws/build/CMakeFiles/CMakeError.log".
make: *** [cmake_check_build_system] 错误 1
这个错误也折腾了我一阵子，以此铭记之。
好了，接下来就是编译它了。
2.3、编译
catkin_make 是一个命令行工具，它简化了catkin的标准工作流程。你可以认为catkin_make是在CMake标准工作流程中依次调用了cmake 和 make。
使用方法:
# 在catkin工作空间下
$ catkin_make[make_targets] [-DCMAKE_VARIABLES=...]
记得事先source你的环境配置(setup)文件，在Ubuntu中的操作指令如下：
$ source /opt/ros/indigo/setup.bash
切换到catkin workspace ：
$ cd ~/catkin_ws/
执行编译:
$ catkin_make
输出如下编译信息：
Base path:/home/horsetail/catkin_ws
Source space: /home/horsetail/catkin_ws/src
Build space:/home/horsetail/catkin_ws/build
Devel space:/home/horsetail/catkin_ws/devel
Install space:/home/horsetail/catkin_ws/install
####
#### Runningcommand: "makecmake_check_build_system" in "/home/horsetail/catkin_ws/build"
####
-- UsingCATKIN_DEVEL_PREFIX: /home/horsetail/catkin_ws/devel
-- UsingCMAKE_PREFIX_PATH: /home/horsetail/catkin_ws/devel;/opt/ros/jade
-- This workspaceoverlays: /home/horsetail/catkin_ws/devel;/opt/ros/jade
-- UsingPYTHON_EXECUTABLE: /usr/bin/python
-- Using DebianPython package layout
-- Using empy:/usr/bin/empy
-- UsingCATKIN_ENABLE_TESTING: ON
-- Callenable_testing()
-- UsingCATKIN_TEST_RESULTS_DIR: /home/horsetail/catkin_ws/build/test_results
-- Found gtestsources under '/usr/src/gtest': gtests will be built
-- Using Pythonnosetests: /usr/bin/nosetests-2.7
-- catkin 0.6.14
--BUILD_SHARED_LIBS is on
--~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~ traversing 1packages in topological order:
-- ~~ - mypackage1
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processingcatkin package: 'mypackage1'
-- ==>add_subdirectory(mypackage1)
-- Configuring done
-- Generating done
-- Build fileshave been written to: /home/horsetail/catkin_ws/build
####
#### Runningcommand: "make -j4-l4" in "/home/horsetail/catkin_ws/build"
####
Scanningdependencies of target talker
Scanningdependencies of target listener
[ 50%] Building CXX object mypackage1/CMakeFiles/listener.dir/src/listener.cpp.o
[100%] Building CXX object mypackage1/CMakeFiles/talker.dir/src/talker.cpp.o
Linking CXXexecutable /home/horsetail/catkin_ws/devel/lib/mypackage1/talker
[100%] Built target talker
Linking CXXexecutable /home/horsetail/catkin_ws/devel/lib/mypackage1/listener
[100%] Built target listener
恭喜编译成功了，接下来可以尝下先。
2.4、运行
运行的步骤和1.3是一样的，请参阅1.3的详细描述。因为按照两种方法编译了两个相同的包名和节点，因此在启动时会提示选择哪一个节点进行运行，按照提示选择即可。
注意：source ~/.bashrc
Echo “source ~/dashgo_ws/devel/setup.bash”>>~/.bashrc
和source devel/setup.bash的区别
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