ROS官方教程笔记(一)文件系统+构建一个ROS包

教程网址:https://wiki.ros.org/ROS/Tutorials

（一）ROS文件系统

1. rospack 查找包的信息
   命令格式：rospack find [package_name]
   Example1：rospack find roscpp
   
   Example2:rospack find learning_service
   
2. roscd ros的快速cd指令
   命令格式：roscd [locationname[/subdir]]
   Example1：roscd roscpp
   
   Example2：roscd learning_service/src
   
3. rosls ros自带的ls
   命令格式：rosls [locationname[/subdir]]
   Example：rosls learning_service
   

（二）创建一个ROS包

1. 创建目录catkin_ws2/src
2. cd src
3. 指令 catkin_create_pkg <程序包名称> depend1 depend2 depend3
   Example：catkin_create_pkg beginner_tutorials std_msgs rospy roscpp
   
   beginner_tutorials文件夹下
   
4. 构建软件包
   catkin_ws2目录下catkin_make生成下述文件
   
5. 在个人空间点击显示隐藏文件找到.bashrc文件，加上
   
   这个工作空间就可以用了
6. 自定义软件包
   打开/catkin_ws2/src/beginner_tutorials/package.xml
   第五行 描述标签

 <description>The beginner_tutorials package</description>

7-10行：维护者标签

  <!-- One maintainer tag required, multiple allowed, one person per tag -->
  <!-- Example:  -->
  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
  <maintainer email="czc@todo.todo">czc</maintainer>   
 可以把这里改成你自己的个人信息

13-16行：许可证标签

  <!-- One license tag required, multiple allowed, one license per tag -->
  <!-- Commonly used license strings: -->
  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
  <license>TODO</license>

依赖

<!-- The *depend tags are used to specify dependencies -->
  <!-- Dependencies can be catkin packages or system dependencies -->
  <!-- Examples: -->
  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
  <!--   <depend>roscpp</depend> -->
  <!--   Note that this is equivalent to the following: -->
  <!--   <build_depend>roscpp</build_depend> -->
  <!--   <exec_depend>roscpp</exec_depend> -->
  <!-- Use build_depend for packages you need at compile time: -->
  <!--   <build_depend>message_generation</build_depend> -->
  <!-- Use build_export_depend for packages you need in order to build against this package: -->
  <!--   <build_export_depend>message_generation</build_export_depend> -->
  <!-- Use buildtool_depend for build tool packages: -->
  <!--   <buildtool_depend>catkin</buildtool_depend> -->
  <!-- Use exec_depend for packages you need at runtime: -->
  <!--   <exec_depend>message_runtime</exec_depend> -->
  <!-- Use test_depend for packages you need only for testing: -->
  <!--   <test_depend>gtest</test_depend> -->
  <!-- Use doc_depend for packages you need only for building documentation: -->
  <!--   <doc_depend>doxygen</doc_depend> -->
  <buildtool_depend>catkin</buildtool_depend>
  <build_depend>roscpp</build_depend>       //构建时依赖
  <build_depend>rospy</build_depend>
  <build_depend>std_msgs</build_depend>
  <build_export_depend>roscpp</build_export_depend>
  <build_export_depend>rospy</build_export_depend>
  <build_export_depend>std_msgs</build_export_depend>
  <exec_depend>roscpp</exec_depend>    //执行时依赖
  <exec_depend>rospy</exec_depend>
  <exec_depend>std_msgs</exec_depend>