(1)直接在package<beginner_tutorials>目录下的src中创建 talker.cpp和listener.cpp。。在Qt或者gedit中编辑都可以,,,不建议新手上来就使用vim编辑程序或者复制粘贴!!!
(2)在beginner_tutorials文件夹下的CmakeLists.txt的末尾中添加以下代码
include_directories(include ${catkin_INCLUDE_DIRS}) add_executable(talker src/talker.cpp) target_link_libraries(talker ${catkin_LIBRARIES}) add_executable(listener src/listener.cpp) target_link_libraries(listener ${catkin_LIBRARIES})
保存!
(3)退回到工作空间 cd ~/catkin_ws/
执行 $ catkin_make编译程序
(4)测试发布器和接收器是否可执行
新开一个terminal,, cd ~/catkin_ws/
然后source一下(必须!!!)$ source ./devel/setup.bash
$ rosrun beginner_tutorials talker
再开一terminal $ source ./devel/setup.bash
rosrun beginner_tutorials listener
测试成功!!!
参考:
http://blog.csdn.net/xiaocainiaoshangxiao/article/details/13640789
http://blog.csdn.net/xiaocainiaoshangxiao/article/details/13700851