简单ROS功能包创建

1、创建工作空间
  mkdir -p demo02_ws/src(必须得有 src)
  cd demo02_ws
  catkin_make
2、启动 vscode
  cd demo02_ws
  code .
3、vscode 中编译 ros
  快捷键 ctrl + shift + B 调用编译，选择:catkin_make:build
  可以点击配置设置为默认，修改.vscode/tasks.json 文件
 -----------------------------------------------------------------------
{
// 有关 tasks.json 格式的文档，请参见
    // https://go.microsoft.com/fwlink/?LinkId=733558
    "version": "2.0.0",
    "tasks": [
        {
            "label": "catkin_make:debug", //代表提示的描述性信息
            "type": "shell",  //可以选择shell或者process,如果是shell代码是在shell里面运行一个命令，如果是process代表作为一个进程来运行
            "command": "catkin_make",//这个是我们需要运行的命令
            "args": [],//如果需要在命令后面加一些后缀，可以写在这里，比如-DCATKIN_WHITELIST_PACKAGES=“pac1;pac2”code
            "group": {"kind":"build","isDefault":true},
            "presentation": {
                "reveal": "always"//可选always或者silence，代表是否输出信息
            },
            "problemMatcher": "$msCompile"
        }
    ]
}
----------------------------------------------------------------------------
4 创建 ROS 功能包
选定 src 右击 ---> create catkin packag
 设置包名  添加依赖roscpp rospy std_msgs
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一、C++ 实现                                                                                  
1、在功能包的src 下新建 cpp 文件                                                                 
-----------------------------------------------------------------------------------              
/*                                                                                           
    控制台输出 HelloVSCode !!!                                                                
                                                                                                
*/                                                                                             
#include "ros/ros.h"                                                               
                                                                        
int main(int argc, char *argv[])
{
    setlocale(LC_ALL,"");
    //执行节点初始化
    ros::init(argc,argv,"HelloVSCode");

    //输出日志
    ROS_INFO("Hello VSCode!!!哈哈哈哈哈哈哈哈哈哈");
    return 0;
}
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修改 .vscode/c_cpp_properties.json
设置 "cppStandard": "gnu17"
       "cppStandard": "c++17"
配置 CMakeLists.txt
C++ 配置:
----------------------------
-136 add_executable(源文件名 src/C++源文件名.cpp  )                     -
-------------------------------
-149 target_link_libraries(节点名称-
-150   ${catkin_LIBRARIES}        -
-151 )                            -
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编译执行
编译: ctrl + shift + B
执行：cd 文件名
      roscore
      cd 文件名（另一个指令框）
      rosrun 包名 节点名
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二、python实现
在 功能包 下新建 scripts 文件夹，添加 python 文件（.py结尾），并添加可执行权限
------------------------------------------------------------------------------
#! /usr/bin/env python
# -*- coding: utf-8 -*-

"""
    Python 版本的 HelloVScode，执行在控制台输出 HelloVScode
    实现:
    1.导包
    2.初始化 ROS 节点
    3.日志输出 HelloWorld

"""

import rospy # 1.导包

if __name__ == "__main__":

    rospy.init_node("Hello_Vscode_p")  # 2.初始化 ROS 节点
    rospy.loginfo("Hello VScode, 我是 Python ....")  #3.日志输出 HelloWorld
------------------------------------------------------------------------------
添加权限：scripts右击-》在集成终端打开  chmod +x *.py回车 ll回车
配置 CMakeLists.txt
162 catkin_install_python(PROGRAMS
163 scripts/自定义文件名.py
164 DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
165   )
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编译执行
编译: ctrl + shift + B
执行：cd 文件名
      roscore
      cd 文件名（另一个指令框）
      source ./devel/setup.bash
      rosrun 包名 节点名.py