Package下载
-
从ros index下载包
sudo apt install ros-noetic-rqt-robot-steering
rosrun rqt_robot_steering rqt_robot_steering
sudo apt install ros-noetic-turtlesim
rosrun turtlesim turtlesim_node
-
从github下载包
# Step1: 创建工作空间目录结构
mkdir catkin_ws
cd catkin_ws
mkdir src
cd src
# Step2: 从github克隆
git clone [克隆链接]
# Step3: cd 到 scripts 文件下(以下是编译过程)
# Step4: 安装依赖包
./install_for_noetic.sh
# Step5: 编译
cd ~/catkin_ws/
catkin_make
# Step6: 使用source命令载入工作空间的环境设置
source ~/catkin_ws/devel/setup.bash
# Step7: 运行编译好的ros程序
roslaunch wpr_simulation wpb_simple.launch
# Tips: 将source命令添加到.bashrc(终端命令初始化脚本)脚本中
gedit ~/.bashrc
创建package
# Step1: 创建软件包
cd catkin_ws/src
catkin_create_pkg ssr_pkg rospy roscpp std_msgs # 创建一个叫ssr_pkg的package, 这个包有rospy, roscpp和std_msgs三个依赖项
# Step2: src下创建节点的cpp源码文件,然后做如下设置
#include <ros/ros.h>
int main(int argc, char *argv[])
{
ros::init(argc, argv, "chao_node"); // 初始化节点
while(ros::ok()){
printf("Hello World!\n");
}
return 0;
}
# Step3: CMakeLists.txt 中设置源码的编译规则
add_executable(chao_node src/chao_node.cpp)
target_link_libraries(chao_node
${catkin_LIBRARIES}
)
# Step4: 编译运行 Ctrl+Shift+B 或者 catkin_make