创建工作空间

robot123@ubuntu:~$ mkdir workspace
robot123@ubuntu:~$ ls
Desktop    Downloads         Music     Public     Videos
Documents  examples.desktop  Pictures  Templates  workspace
robot123@ubuntu:~$ cd workspace/
robot123@ubuntu:~/workspace$ ls
robot123@ubuntu:~/workspace$ mkdir robot1.0
robot123@ubuntu:~/workspace$ ls
robot1.0
robot123@ubuntu:~/workspace$ cd robot1.0/
robot123@ubuntu:~/workspace/robot1.0$ ls
robot123@ubuntu:~/workspace/robot1.0$ mkdir src
robot123@ubuntu:~/workspace/robot1.0$ catkin_make
Base path: /home/robot123/workspace/robot1.0
Source space: /home/robot123/workspace/robot1.0/src
Build space: /home/robot123/workspace/robot1.0/build
Devel space: /home/robot123/workspace/robot1.0/devel
Install space: /home/robot123/workspace/robot1.0/install
Creating symlink "/home/robot123/workspace/robot1.0/src/CMakeLists.txt" pointing to "/opt/ros/melodic/share/catkin/cmake/toplevel.cmake"
####
#### Running command: "cmake /home/robot123/workspace/robot1.0/src -DCATKIN_DEVEL_PREFIX=/home/robot123/workspace/robot1.0/devel -DCMAKE_INSTALL_PREFIX=/home/robot123/workspace/robot1.0/install -G Unix Makefiles" in "/home/robot123/workspace/robot1.0/build"
####
-- The C compiler identification is GNU 7.5.0
-- The CXX compiler identification is GNU 7.5.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Using CATKIN_DEVEL_PREFIX: /home/robot123/workspace/robot1.0/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/melodic
-- This workspace overlays: /opt/ros/melodic
-- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.17", minimum required is "2") 
-- Using PYTHON_EXECUTABLE: /usr/bin/python2
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/robot123/workspace/robot1.0/build/test_results
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python2 (found version "2.7.17") 
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE  
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.29
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
-- Configuring done
-- Generating done
-- Build files have been written to: /home/robot123/workspace/robot1.0/build
####
#### Running command: "make -j2 -l2" in "/home/robot123/workspace/robot1.0/build"
####
robot123@ubuntu:~/workspace/robot1.0$ 
 

robot123@ubuntu:~/workspace/robot1.0$ echo "source ~/workspace/robot1.0/devel/setup.bash">>~/.bashrc

接下来就是再该工作区创建ros的程序包，因目前使用的是 YDLIDAR X4的激光雷达，参看 YDLIDAR ROS 使用手册即可。