步骤:
一. 安装ROS Kinetic
1)设置sources.list
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
2)设置key
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
3)设置镜像(本地网速太慢)
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'
4)安装kinetic
sudo apt-get update
sudo apt-get install ros-kinetic-desktop-full
5) 初始化依赖
sudo rosdep init
rosdep update
6)环境配置
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
7)安装常用三方库
sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential
二.创建工作区
$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/
$ catkin_make
2)激活配置
$ source devel/setup.bash
或者永久激活该地址的配置文件:
echo "source /home/yourfile/devel / setup.bash" >> ~/.bashrc
三.构建自己的Catkin包
1)
cd ~/catkin_ws/src
2)使用catkin_create_pkg
命令来创建一个名为'beginner_tutorials'的新程序包,这个程序包依赖于std_msgs、roscpp和rospy
catkin_create_pkg beginner_tutorials std_msgs rospy roscpp
3)
roscd beginner_tutorials
四.定义自己的msg并编译:
1)
mkdir msg
cd msg
touch Num.msg
rosed beginner_tutorials Num.msg
2)定义msg类型(Num.msg文件,手工输入代码)
int64 num
3)打开文件rosed beginner_tutorials package.x