1.创建一个catkinPackage
执行如下命令创建一个catkin包:
cd~/ros/catkin_ws/src/
catkin_create_pkg beginner_tutorials std_msgs rospy roscpp
执行完会有如下提示:
Created file beginner_tutorials/package.xml
Created file beginner_tutorials/CMakeLists.txt
Created folder beginner_tutorials/include/beginner_tutorials
Created folder beginner_tutorials/src
Successfully created files in/home/guochongxin/ros/catkin_ws/src/beginner_tutorials. Please adjust thevalues in package.xml.
上面的命令是使用catkin_create_pkg命令来创建一个名为beginner_tutorials的包,其依赖于std_msgs、rospy和roscpp。
2.编译catkin工作空间和导入setup文件
cd~/ros/catkin_ws/
catkin_m