ROS 学习笔记(一):工作空间+功能包创建
一、创建工作空间(catkin_make编译):
1.创建工作空间 catkin_ws
创建空间、初始化(建立一个文件夹)
cd ~
mkdir -p ~/catkin_ws/src
catkin_init_workspace
编译空间,生成build和devel文件夹
cd ~/catkin_ws
catkin_make
2.设置环境变量 加载 devel/setup.bash 文件
(临时单个终端)
cd ~/catkin_ws
source devel/setup.bash
为工作空间设置环境变量到~/.bashrc(终端环境变量文件)中并且运行
(永久全部终端)
echo "export ROS_PACKAGE_PATH=~/catkin_ws:${ROS_PACKAGE_PATH}" >> ~/.bashrc
source ~/.bashrc
(查看已有的空间路径)
echo $ROS_PACKAGE_PATH
(PS:ROS的环境变量也加到~/.bashrc中,若之前没有添加)
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
二、创建功能包(catkin_make编译):
1.创建一个叫mypacakge的功能包,生成package.xml CMakeList.txt
cd ~/catkin_ws
roscreate-pkg mypacakge std_msgs rospy roscpp
或者
catkin_create_pkg mypacakge std_msgs rospy roscpp
- 重新编译并设置环境变量(已在于终端环境变量文件中设置的无需重新设置)
cd ~/catkin_ws
catkin_make
source devel/setup.bash