Howto Write and build ROS program on Ubuntu

Howto Write and build ROS program on Ubuntu

Herewe will give an example to illustrate howto write and buildROS(Groovy) program on Ubuntu. The complete example can be downloaded at: http://download.csdn.net/detail/owldestiny/5286602 .

Beforeyou go, make sure you have install and configure ROS following theinstruction Howto Install and Configure ROS on Ubuntu.

Theoverall program structure of the program is:

│  └── ros_test

│   ├── bin

│   ├── build

│   ├── CMakeLists.txt

│   ├── CMakeLists.txt.user

│   ├── lib

│   ├── msg

│   │   └── test.msg

│   ├── package.xml

│   └── src

│   └── main.cpp

Theprogram is in the directory /program/ros_workspace/src/test/ros_test.

TheCMakeLists.txt is:

=========================================================================

cmake_minimum_required(VERSION2.8.3)

project(test)

#========================================================================

#cmakesettings

set(LIBRARY_OUTPUT_PATH${PROJECT_SOURCE_DIR}/lib)

set(EXECUTABLE_OUTPUT_PATH${PROJECT_SOURCE_DIR}/bin)

include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include/

/program/ros_workspace/devel/include)#to include the generated file from msgs

aux_source_directory(${CMAKE_CURRENT_SOURCE_DIR}/srcPROJECT_SOURCES)

#========================================================================

#========================================================================

#ros

find_package(catkinREQUIRED

COMPONENTSroscpp std_msgs sensor_msgs message_generation) #build compoment

#message(STATUS"catkin_INCLUDE_DIRS:" ${catkin_INCLUDE_DIRS})

#message(STATUS"catkin_LIBRARIES:" ${catkin_LIBRARIES})

#message(STATUS"catkin_DEFINITIONS:" ${catkin_DEFINITIONS})

#message(STATUS"catkin_INSTALL:" ${catkin_PACKAGE_BIN_DESTINATION})

#rosmsgs

add_message_files(FILEStest.msg)

generate_messages(DEPENDENCIESstd_msgs)

#========================================================================

add_executable(ros_test${PROJECT_SOURCES})

target_link_libraries(ros_test${catkin_LIBRARIES})

install(TARGETSros_test

ARCHIVE DESTINATION /program/ros_workspace/bin

LIBRARY DESTINATION /program/ros_workspace/bin

RUNTIME DESTINATION /program/ros_workspace/bin

)

=========================================================================

Thepackage.xml is:

=========================================================================

<package>
<name>test</name>
<version>0.0.1</version>
<description>
Thisis the test program of ros.
</description>
<maintaineremail="chen0510566@163.com">Chen Cheng</maintainer>
<license>BSD</license>
<buildtool_depend>catkin</buildtool_depend>
<!--
<build_depend>roscpp</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>sensor_msgs</build_depend>
<run_depend>roscpp</run_depend>
<run_depend>std_msgs</run_depend>
<run_depend>sensor_msgs</run_depend>
-->
<!--<build_depend></build_depend>-->
<!--<run_depend></run_depend>-->
<!--<test_depend></test_depend>-->
</package>

=========================================================================

Themain.cpp is:

=========================================================================

#include<iostream>
#include<ros/ros.h>
#include<std_msgs/String.h>
#include<test/test.h>

intmain(int argc, char** argv)
{
ros::init(argc, argv, "test");
ros::NodeHandle n;
ros::Publisher chatter_pub =n.advertise<std_msgs::String>("chatter", 1000);
test::test testmsg;

ros::Rate loop_rate(10);
intcount = 0;
while (ros::ok())
{
std_msgs::String msg;

std::stringstream ss;
ss << "hello world " << count;
msg.data = ss.str();

ROS_INFO("%s", msg.data.c_str());
chatter_pub.publish(msg);
ros::spinOnce();

loop_rate.sleep();
++count;
}
return(0);
}

=========================================================================

Thetest.msg is:

=========================================================================

Headerheader

float32f1

float32f2

uint8n1

=========================================================================

Tobuild the program, you can use either cmake commands or catkin_makecommands.

Buildthe program by cmake:

$cd/program/ros_workspace/src/test/ros_test/build

$cmake..

$make

Here you may get the error info test/test.h no suchfile, that's because the test.h is generated in the project builddirectory, the CMakeLists.txt set the file in ros_workspace/develdirectory, which is generated by catkin_make. If you usegenerate_messages in the CMakeLists.txt, the generated file will bein build/devel/include and build/devel/lib directory even if you haveset the output directory for the binary. If there is nogenerate_messages, the binary will be in the directory you set.

Buildthe program by catkin_make:

$cd/program/ros_workspace

$catkin_make

The generated binary files is in/program/ros_workspace/devel/lib and include files in/program/ros_workspace/devel/include. Maybe you have to runcatkin_make twice to build the projects, especially for the projectsthat generate msgs.

Toinstall the binaries to specific directories, follow the commands:

$cd/program/ros_workspace/build

$makeinstall