ros中有一个catkin命令,刚看到的时候非常奇怪这是个什么东西,后来查了一下才知道这其实是一种花,图片如下所示。
因为ROS早期的创始实验室叫做Willow Garage,而柳树(Willow)的花就属于catkin这种花序,所就使用了这个花的名字命名了ROS的编译系统。
widi百科的官方说明如下:
catkin is the official build system of ROS and the successor to the original ROS build system, rosbuild. catkin combines CMake macros and Python scripts to provide some functionality on top of CMake’s normal workflow. catkin was designed to be more conventional than rosbuild, allowing for better distribution of packages, better cross-compiling support, and better portability. catkin’s workflow is very similar to CMake’s but adds support for automatic ‘find package’ infrastructure and building multiple, dependent projects at the same time.The name catkin comes from the tail-shaped flower cluster found on willow trees
– a reference to Willow Garage where catkin was created.
翻译成中文如下:
catkin是ROS的官方构建体系,是ROS构建系统的继承者,ROS构建系统。catkin结合了CMake宏和Python脚本,在CMake的正常工作流之上提供了一些功能。catkin的设计比rosbuild更为传统,允许更好地分发包、更好的交叉编译支持和更好的可移植性。catkin的工作流与CMake非常相似,但同时为自动“查找包”基础结构和构建多个依赖项目提供了支持时间。时间“猫”这个名字来自柳树上的尾巴状花簇——一个关于柳树车库的参考,在那里创建了一个金丝。
说白了,其实就是一个编译的指令,可以认为是一个司令员拿了个柳絮发号施令给ROS说“给我编译!”,然后ros就会乖乖地去干活了哈哈。