ROS-HelloWorld

1. 在名为beginner_tutorials的package包下的src文件夹下编写一个hello.cpp文件

#include<ros/ros.h>

int main(int argc,char **argv)

{

     ros::init(argc,argv,"hello_ros");

     ros::NodeHandle nh;

     ROS_INFO("Hello_Ros!"); 

     ros::spinOnce();

}

2. 修改CMakeList.txt文件

add_executable(hello /home/jianqiang/catkin_ws/src/beginner_tutorials/src/hello.cpp)
target_link_libraries(hello ${catkin_LIBRARIES})

add_executable(hello /home/jianqiang/catkin_ws/src/beginner_tutorials/src/hello.cpp)
要说明cpp文件再哪

接下来运行roscore， rosrun beginner_tutorials hello 即可