1. 创建新的工作空间与功能包
首先,我们在主目录下创建一个工作空间 catkin_ws,并在其中创建一个 package: helloROS。
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin_make
source devel/setup.bash
echo $ROS_PACKAGE_PATH
cd ~/catkin_ws/src
catkin_create_pkg helloROS std_msgs rospy roscpp
cd ~/helloROS
catkin_make
2. hello_ros.cpp
# include <ros/ros.h>
int main(int argc, char **argv)
{
ros::init(argc, argv, "hello_ros");
ros::NodeHandle nh;
ROS_INFO_ST