第一个ros程序

首先确定已经正确安装好ros,再进行以下操作

一、ros 实现 helloworld

1、创建工作环境
mkdir -p ~/catkin_ws/src
cd catkin_ws/src
catkin_create_pkg agitr
2、配置工作目录
sudo gedit ~/.bashrc
在最后一行添加
export ROS_PACKAGE_PATH=~/catkin_ws:$ROS_PACKAGE_PATH
3、
cd…
catkin_make
source devel/setup.bash
echo $ROS_PACKAGE_PATH

4、创建一个包

cd catkin_ws/src
catkin_create_pkg cici

创建完成后，在这cici下创建src

mkdir src

src下创建hello.cpp
touch hello.cpp
sudo gedit hello.cpp

#include<ros/ros.h>
 
int main(int argc,char **argv){
      
 
ros::init(argc,argv,"hello_ros");   
 
ros::NodeHandle nh;   
 
ROS_INFO_STREAM("hello,ROS!");
 
}

5、回到上一级，修改CMakeLists.txt

sudo gedit CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(agitr)
#添加需要的依赖库 roscpp
find_package(catkin REQUIRED COMPONENTS roscpp