ROS入门_1.6 创建ROS程序包

目录

1. 一个catkin程序包由什么组成?
2. 在catkin工作空间中的程序包
3. 创建一个catkin程序包
4. 程序包依赖关系
   1. 一级依赖
   2. 间接依赖
5. 自定义你的程序包
   1. 自定义 package.xml
      1. 描述标签
      2. 维护者标签
      3. 许可标签
      4. 依赖项标签
      5. 最后完成的 package.xml
   2. 自定义 CMakeLists.txt

一个catkin程序包由什么组成?

一个程序包要想称为catkin程序包必须符合以下要求：

• 该程序包必须包含catkin compliant package.xml文件

  • 这个package.xml文件提供有关程序包的元信息。

• 程序包必须包含一个catkin 版本的CMakeLists.txt文件，而Catkin metapackages中必须包含一个对CMakeList.txt文件的引用。

• 每个目录下只能有一个程序包。
  • 这意味着在同一个目录下不能有嵌套的或者多个程序包存在。

最简单的程序包也许看起来就像这样：

• my_package/
    CMakeLists.txt
    package.xml

在catkin工作空间中的程序包

开发catkin程序包的一个推荐方法是使用catkin工作空间，但是你也可以单独开发(standalone)catkin 软件包。一个简单的工作空间也许看起来像这样：

• 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

在继续本教程之前请先按照创建catkin工作空间教程创建一个空白的catkin工作空间。

Let's create a catkin workspace:
$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src
$ catkin_init_workspace
Even though the workspace is empty (there are no packages in the 'src' folder, just a single CMakeLists.txt link) you can still "build" the workspace:
$ cd ~/catkin_ws/
$ catkin_make
The catkin_make command is a convenience tool for working with catkin workspaces. If you look in your current directory you should now have a 'build' and 'devel' folder. Inside the 'devel' folder you can see that there are now several setup.*sh files. 
NOTE!! Sourcing any of these files will overlay this workspace on top of your environment. To understand more about this see the general catkin documentation: catkin. Before continuing source your new setup.*sh file:
$ source devel/setup.bash
To make sure your workspace is properly overlayed by the setup script, make sure ROS_PACKAGE_PATH environment variable includes the directory you're in.