ROS创建工作空间与功能包

新建工程——工作空间（workspace）是一个存放工程开发相关文件的文件夹

src:代码空间（Source Space）

build：编译空间（Build Space）

devel：开发空间（Development Space）

install：安装空间（Install Space）

catkin编译系统下的工作空间结构

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

1⃣️创建工作空间

makdir -p ~/catkin_ws/src

cd ~/catkin_ws/src

catkin_init_workspace

2⃣️编译工作空间

cd ~/catkin_ws

catkin_make

3⃣️设置环境变量

source devel/setup.bash

copy至.bashrc（ctrl+h）source /home/eaibot/catkin_ws/devel/setup.bash,重新启动终端生效

4⃣️检查环境变量

echo $ROS_PACKAGE_PATH

5⃣️创建功能包

cd ~/catkin_ws/src

catkin_create_pkg <package_name> [depend1][depend2][depend3] //+名字+依赖

e.g. catkin_create_pkg test_pkg std_msgs rospy roscpp    //名字：test_pkg+依赖msgs、rospy...

6⃣️编译功能包

cd ~/catkin_ws

catkin_make

source ~/catkkin_ws/devel/setup.bash