创建工作空间与功能包

创建工作空间与功能包

1、创建工作空间
1.1、在主目录下创建

mkdir catkin_ws

/1.2、创建src文件

chen@ubuntu:~$ cd catkin_ws/
chen@ubuntu:~/catkin_ws$ mkdir src

1.3、把当前文件夹初始化，变成ROS的workspace文件，是文件属性的变化

chen@ubuntu:~/catkin_ws/src$ catkin_init_workspace
Creating symlink "/home/chen/catkin_ws/src/CMakeLists.txt" pointing to "/opt/ros/melodic/share/catkin/cmake/toplevel.cmake"

产生.txt文件，则说明当前路径是ROS的工作空间了

1.4、在工作空间做编译

chen@ubuntu:~/catkin_ws$ pwd
/home/chen/catkin_ws （工作空间根目录）

catkin编译器的编译 指令catkin_make，

chen@ubuntu:~/catkin_ws$ catkin_make
Base path: /home/chen/catkin_ws
Source space: /home/chen/catkin_ws/src
Build space: /home/chen/catkin_ws/build
Devel space: /home/chen/catkin_ws/devel
Install space: /home/chen/catkin_ws/install

产生install文件夹

chen@ubuntu:~/catkin_ws$ catkin_make install

2、创建功能包
在src文件夹内创建源码，依赖

test_pkg 功能包名
roscpp （c++程序）
rospy （python程序）
std_msgs（ROS定义的标准消息结构）

chen@ubuntu:~/catkin_ws/src$ catkin_create_pkg test_pkg roscpp rospy std_msgs
Created file test_pkg/CMakeLists.txt
Created file test_pkg/package.xml
Created folder test_pkg/include/test_pkg
Created folder test_pkg/src
Successfully created files in /home/chen/catkin_ws/src/test_pkg. Please adjust the values in package.xml.

创建成功后就可以编译，catkin_make

chen@ubuntu:~/catkin_ws$ catkin_make
Base path: /home/chen/catkin_ws
Source space: /home/chen/catkin_ws/src
Build space: /home/chen/catkin_ws/build
Devel space: /home/chen/catkin_ws/devel
Install space: /home/chen/catkin_ws/install

2.1、如果要运行功能包里面的程序就需要设置环境变量
设置环境变量

chen@ubuntu:~/catkin_ws$ source devel/setup.bash

检查环境变量，查看功能包路径

chen@ubuntu:~/catkin_ws$ echo $ROS_PACKAGE_PATH
/home/chen/catkin_ws/src:/opt/ros/melodic/share

3.功能包里面文件作用
package.xml：描述跟功能包相关的信息，名字，版本，依赖信息等
CMakeLists.txt:描述功能包里面的编译规则，通过Cmake语法