Ros

Writing ROS programs

1. Creating a workspace and a package

Creating a workspace:   $ mkdir

Creating a package: $ catkin_create_pkg agitr

2. A simple program

(1) Writing source file,

named hello.cpp, belongs in your package folder, right next to package.xml and CMake-Lists.txt.

(2) Compiling the Hello program. 

Declaring dependencies. 

To list dependencies, edit the CMakeLists.txt in your package directory. 

$ find_package(catkin REQUIRED COMPONENTS roscpp)

list dependencies in the package manifest (package.xml), using the build-
_depend and run_depend elements: