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ros 编写 helloworld 程序
(参考:https://blog.csdn.net/mxgsgtc/article/details/71450763)
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1,先建立工作空间~/catkin_ws
(参考:https://www.douban.com/note/516838470/)
a,ros工作环境检查
$ export | grep ROS
b,将ros的配置文档加入到teminal启动脚本里
$ source /opt/ros/melodic/setup.bash
c,创建工程空间
$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src
$ catkin_init_workspace
d,将ros用户自己的工程目录配置到bash里
$ gedit ~/.bashrc
在其最后一行加入
export ROS_PACKAGE_PATH=~/catkin_ws:$ROS_PACKAGE_PATH
e,编译工程
$ cd ~/catkin_ws/
$ catkin_make
f,将catkin_make加入到shell里
$ source devel/setup.bash
$ echo $ROS_PACKAGE_PATH
2,在工作空间~/catkin_ws下创建包pkg目录beginner_tutorials
好处是通过创建包自动生成package.xml和CMakeLists.txt
(参考:www.douban.com/note/516843231/)
创建ros包
a,ros包必备的有两个文件:CMakeLists.txt和 pack