创建工作空间:
工作空间(workspace)是一个存放工程开发相关文件的文件夹.
*src:代码空间(Source Space)
*build:编译空间(Build Space)
*devel:开发空间(Development Space)
*instll:安装空间(Install Space)
mkdir catkin_ws
cd catkin_ws/
mkdir src
cd src/
catkin_init_workspace
编译工作空间:
cd ~/catkin_ws
catkin_make
catkin_make install
创建功能包
#语法
#catkin_create_pkg<package_name>[depend1][depend2][depend3]
cd src/
catkin_create_pkg test_pkg std_msgs rospy roscpp
# 编译功能包
cd ~/catkin_ws
catkin_make
设置环境变量
source devel/setup.bash
检查环境变量
echo $ROS_PACKAGE_PATH