一、工作空间
mkdir -p ~/wheeltec/src
cd ~/wheeltec/src
catkin_init_workspace
catkin_make -DCATKIN_WHITELIST_PACKAGES="package_name"
catkin_make -j -l
二、功能包
catkin_create_pkg <package_name> [depend1] [depend2] [depend3]
catkin_create_pkg new_package std_msgs rospy roscpp
三、CMakeLists.txt
四、package.xml