Tutorials
Filesystem tools(文件系统工具)
Example:
$ rospack find roscpp
would return:
YOUR_INSTALL_PATH/share/roscpp
roscd #切换目录,只能切换到那些路径已经包含在ROS_PACKAGE_PATH环境变量中的软件包
rosls #直接按软件包的名称而不是绝对路径执行ls命令
建立ROS程序包
Creating a catkin Package
#You should have created this in the Creating a Workspace Tutorial
$ cd ~/catkin_ws/src
$ catkin_create_pkg beginner_tutorials std_msgs rospy roscpp
# This is an example, do not try to run this
# catkin_create_pkg <package_name> [depend1] [depend2] [depend3]
Building the packages in the catkin workspace:
$ cd ~/catkin_ws
$ catkin_make
$ . ~/catkin_ws/devel/setup.bash #.可以替换为source命令
roscore is the first thing you should run when using ROS.
Open up a new terminal, useing rosnode (显示当前运行的ROS节点信息)
rosnode list 指令列出活跃的节点