1.创建工作空间catkin_ws
$ mkdir -p ~/dev/catkin_ws/src
$ cd ~/dev/catkin_ws/src
$ catkin_init_workspace
2.创建工作空间后,里面没有功能包,只有CMakeList.txt文件,下一步是编译工作空间。
$ cd ~/dev/catkin_ws
$ catkin_make
3.将工作空间包含到ROS_PACKAGE_Path中,否则ros命令找不到包。
$ source devel/setup.bash
4.创建功能包,catkin_create_pkg 是创建功能包的命令行工具。
$ cd ~ dev/catkin_ws/src
$ catkin_create_pkg demo1 std_msgs roscpp
5.编辑CmakeList.txt文件,在最后加上这些代码:
include_directories(
include
${catkin_INCLUDE_DIRS}
)
add_executable(talker src/talker.cpp)
add_dependencies(talker
demo1_generate_messages_cpp)
target_link_libraries(talker ${catkin_LIBRARIES})
6.创建完功能包,在功能包src文件夹内编写源代码,随后进行编译。
$ cd ~/dev/catkin_ws
$ catkin_make #对工作空间内所有功能包进行编译
# 如果编译单个功能包
$ cat