ROS：创建工作环境、创建工作包、单独编译工作包

 一.创建工作环境

mkdir catkin_ws
cd catkin_ws 
mkdir src 
cd src
catkin_init_workspace
cd ..
catkin_make

将devel中setup.zsh路径写入.zshrc文件中。

source /home/gree/catkin_ws/devel/setup.zsh 

注：这样做的好处是，不用每次再重复运行source ~/catkin_ws/devel/setup.zsh

之后打开终端运行：

source ~/.zshrc

查看setup.zsh路径是否添加成功：

echo $ROS_PACKAGE_PATH

二.创建功能包

cd ~/catkin_ws/src 
catkin_create_pkg  myProject  std_msgs rospy roscpp

三.单独编译功能包

catkin_make -DCATKIN_WHITELIST_PACKAGES="package1;package2"

"package1;package2"：可以选择多个功能包同时编译；