ROS 编译 Python 文件
Creating a workspace for catkin
链接: http://wiki.ros.org/catkin/Tutorials/create_a_workspace
$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/
$ catkin_make
添加环境变量
$ echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
$ source ~/.bashrc
Creating a ROS Package(用于发布ROS消息)
链接: http://wiki.ros.org/ROS/Tutorials/CreatingPackage
# Creating a catkin Package
$ cd ~/catkin_ws/src
$ catkin_create_pkg beginner_tutorials std_msgs rospy roscpp
# Building a catkin workspace and sourcing the setup file(上面已添加环境变量,此处无需重复添加)
$ cd ~/catkin_ws
$ catkin_make
自定义话题消息(catkin包完善)
- 新建 msg 消息目录,定义 msg 消息
- 在 package.xml 中添加功能包依赖
- 在 CMakeLists.txt 添加编译选项
1)新建 msg 消息目录,定义 msg 消息
$ roscd beginner_tutorials/
$ mkdir msg
$ cd msg/
$ touch Num.msg
$ rosed beginner_tutorials Num.msg