第一个ROS程序

创建工作空间 (home目录下)

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src

创建功能包

catkin_create_pkg hello_ros

包内创建hello.cpp文件

cd hello_ros
vim hello.cpp

复制下方代码到hello.cpp

#include <ros/ros.h>

 int main(int argc, char **argv) 
{ 
	ros::init(argc,argv,"hello"); 
	ros::NodeHandle n; 
	ROS_INFO("Hello ROS!");
	ros::spinOnce(); 
}

修改CmakeList.txt，替换以下内容

cmake_minimum_required(VERSION 2.8.3)
project(hello_ros)

find_package(catkin REQUIRED COMPONENTS  
    roscpp # roscpp依赖库
)

catkin_package(
)

include_directories(include ${catkin_INCLUDE_DIRS})

# 声明需要创建的可执行文件
add_executable(hello hello.cpp)
target_link_libraries(hello ${catkin_LIBRARIES})

进行编译 (catkin_ws工作目录下)

cd ~/catkin_ws
catkin_make

执行脚本文件

source devel/setup.bash

运行节点

rosrun hello_ros hello

结果如图：

OK.