ros wiki learning

mo1、ROS now includes software for tasks ranging from navigation and localization (SLAM),3D object recognition, action planning, motion control for multi-jointed arms, machine learning and even playing billiards.

2、第一部分的学习按照ros wiki http://wiki.ros.org/ROS/Tutorials
2.1ROS filesystem
rospack allows you to get information about packages.

2.2Creating a ROS Package创建一个ROS包
2.2.1创建一个catkin包

（1）首先创建一个catkin工作空间
http://wiki.ros.org/catkin/Tutorials/create_a_workspace
source /opt/ros/indigo/setup.bash
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
cd ..
catkin_make
source devel/setup.bash
(2）其次创建catkin包
cd ~/catkin_ws/src
catkin_create_pkg beginner_tutorials std_msgs rospy roscpp
(3）Building a catkin workspace and sourcing the setup file
cd ~/catkin_ws
catkin_make
. ~/catkin_ws/devel/setup.bash(这是必须的一步add the workspace to your ROS environment you need to source the generated setup file:）

rospack depends1 rospy(std_msgs roscpp rospy创建的时候的第一个)
rospack depends rospy

2.3 Ｂuild a ROS package
Before continuing remember to source your environment setup file if you have not already每次创建ROS包的时候，要先改变一下环境变量。
source /opt/ros/indigo/setup.bash
cd ~/catkin_ws
mkdir build
cd build
cmake ..
make
sudo make install
或者catkin_make

2.4理解ROS节点和roscore, rosnode, and rosrun 等命令行的使用

Nodes can publish or subscribe to a Topic. Nodes can also provide or use a Service.
2.4.1常用命令
1、roscore is the first thing you should run when using ROS.
2、rosnode displays information about the ROS nodes that are currently running.
2.1 The rosnode list command lists these active nodes:
rosnode list
2.2 The rosnode info command returns information about a specific node.
rosnode info /rosout

3、rosrun allows you to use the package name to directly run a node within a package (without having to know the package path).

$ rosrun [package_name] [node_name]

rosrun turtlesim turtlesim_node

按Ctrl+c结束进程。