Writing ROS programs

Writing ROS programs

参考：
A Gentle Introduction to ROS
Jason M. O’Kane

1. Creating a workspace and a package
   Creating a workspace:
   $ mkdir workspaceName
   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:

Steps:

• $ source /opt/ros/hydro/setup.bash
• $ mkdir -p ~/ros_workspace/src
• $ cd src
• ~/ros_workspace/src$ catkin_create_pkg agitr
• ~/ros_workspace/src/ros_package$ mkdir src
  当package中的.cpp文件很多时，建一个src放源代码文件会有帮助，.cpp文件不多时也可以建。
• Declaring dependencies
  In CMakeLists.txt:
  Dependencies on other catkin packages can be added in a COMPONENTS section on this line:
  find_package(catkin REQUIRED COMPONENTS package-names)
  比如：

find_package(catkin REQUIRED COMPONENTS
  cv_bridge
  dynamic_reconfigure
  image_transport
  image_geometry
  kobuki_msgs
  nodelet
  pcl_ros
  roscpp
  std_msgs
  turtlebot_msgs
  visualization_msgs
  tf
  pcl_conversions
)

In manifest.xml：
list dependencies in the package manifest (package.xml)
We should also list dependencies in the package manifest (package.xml), using the build_depend and run_depend elements:

<build_depend>package-name</build_depend>
<run_depend>package-name</run_depend>

In our example, the hello program needs roscpp both at build time and at run time, so the
manifest should contain:

<build_depend>roscpp</build_depend>
<run_depend>roscpp</run_depend>

• Declaring an executable
  In CMakeLists.txt:
  add two lines to CMakeLists.txt declaring
  the executable we would like to create. The general form is

add_executable(executable-name source-files)
target_link_libraries(executable-name ${catkin_LIBRARIES})

例子：

add_executable(hello src/hello.cpp)
target_link_libraries(hello ${catkin_LIBRARIES})

• Building the workspace
  Once your CMakeLists.txt is set up, you can build your workspace—including
  compiling all of the executables in all of its packages—using this command:
  In workspace directory:

catkin_make