参考网址:
$ roscreate-pkg [package_name]
这里我直接引用官网提供的这个例子:---创建beginner_tutorialspackage,他依赖std_msgs, roscpp, rospy
(1) 利用 rorcreate-pkg 创建 package
$ roscreate-pkg beginner_tutorials std_msgs roscpprospy
得到结果:
Created package directory/opt/ros/cturtle/ros/beginner_tutorials
Created include directory/opt/ros/cturtle/ros/beginner_tutorials/include/beginner_tutorials
Created cpp source directory/opt/ros/cturtle/ros/beginner_tutorials/src
Created package file/opt/ros/cturtle/ros/beginner_tutorials/Makefile
Created package file/opt/ros/cturtle/ros/beginner_tutorials/manifest.xml
Created package file/opt/ros/cturtle/ros/beginner_tutorials/CMakeLists.txt
Created package file/opt/ros/cturtle/ros/beginner_tutorials/mainpage.dox
Please editbeginner_tutorials/manifest.xml and mainpage.dox to finish creatingyour package
这里我们需要仔细阅读manifest.xml,所以这里我把生成的manifest.xml贴于下面:
<package>
<descriptionbrief="beginner_tutorials"> beginner_tutorials </description>
<author>root</author>
<license>BSD</license>
<reviewstatus="unreviewed" notes=""/>
<url>http://ros.org/wiki/beginner_tutorials</url>
<dependpackage="std_msgs"/>
<dependpackage="rospy"/>
<dependpackage="roscpp"/>
</package>
(2) 将该路径添加到rox系统中(即更新ros查找路径)
$ exportROS_PACKAGE_PATH=YOUR_BEGINNER_TUTORIALS_PATH:$ROS_PACKAGE_PATH
对于我机子而已,是这样添加:
$ exportROS_PACKAGE_PATH=./:$ROS_PACKAGE_PATH
然后我确认是否在ROS可以找到:
$ rospackfind beginner_tutorials
结果如下:
/opt/ros/cturtle/ros/beginner_tutorials
(3) 我们可以查看package相关第一层依赖项
$ rospack depends1 beginner_tutorials ----package第一层依赖项查询
结果如下:
std_msgs
rospy
roscpp
$ rospack depends1 rospy----package依赖项rospy的第一层依赖项查询
结果如下:
roslib
roslang
$ rospack depends beginner_tutorials ---package所有依赖项查询
genmsg_cpp
rospack
roslib
rosconsole
std_msgs
roslang
rospy
xmlrpcpp
roscpp