创建ros工作空间
catkin_ws
创建工作空间
mkdir catkin_ws
cd catkin_ws
mkdir src
catkin_init_workspace
编译工作空间
cd ..
catkin_make
设置环境变量
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc
看环境变量
echo $ROS_PACKAGE_PATH
功能包
![在这里插入图
功能包内容
include: .h文件
src: .cpp文件
launch: launch文件
urdf : .urdf文件
config: 参数文件,yaml,srv,msg,action
scripts: 可执行脚本文件(Python)
CMakeLists.txt : 定义编译的规则
package.xml : 定义package的属性
创建功能包
功能包要在工作空间的src中创建
cd ~/catkin_ws/src
catkin_create_pkg <package_name> [depend1] [depend2] [depend3]
package_name:功能包名字
depend:功能包依赖
例子
catkin_create_pkg new_package std_msgs rospy roscpp
编译功能包
cd ~/catkin_ws
catkin_make
source ~/catkin_ws/devel/setup.bash