ros下编程

$ printenv | grep ROS

$ source /opt/ros/<distro>/setup.bash

$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src
$ catkin_init_workspace

$ cd ~/catkin_ws/
$ catkin_make

$ source devel/setup.bash

$ echo $ROS_PACKAGE_PATH
/home/youruser/catkin_ws/src:/opt/ros/kinetic/share

cd catkin_ws

cd src

catkin_create_pkg imgpcl std_msgs rospy roscpp sensor_msgs cv_bridge image_transport pcl_conversions pcl_ros pcl_msgs

cd ImgPcl

mkdir src//在此创建.cpp文件

3。添加PCL libraries 到 CMakeLists.txt

find_package(PCL REQUIRED)
include_directories(include ${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})

4。generate the executable and link against the appropriate libraries

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

add_dependencies(imgpcl_sample ImgPcl_generate_messages_cpp)

5。编译运行

cd catkin_ws

source devel/setup.bash

catkin_make