一、Pycharm中加载Ros库

配置pycharm

• 设置快捷键，使从快捷方式启动PyCharm的同时加载ROS环境变量

• gedit /usr/share/applications/jetbrains-pycharm-ce.desktop #全部用户可用  
  

   

gedit ~/.local/share/applications/jetbrains-pycharm-ce.desktop   #如果选择安装为当前用户可用

• 不同版本jetbrains-pycharm-ce.desktop名字可能会有些差异

• [Desktop Entry]
  Encoding=UTF-8
  Version=1.0
  Type=Application
  Name=New Project
  Icon=jetbrains-pycharm-ce.png
  Path=/home/hzz/tools/pycharm-community-2017.3.3/bin
  Exec=/home/hzz/tools/pycharm-community-2017.3.3/jre64/bin/java -Xbootclasspath/a:/home/hzz/tools/pycharm-community-2017.3.3/lib/boot.jar -classpath /home/hzz/tools/pycharm-community-2017.3.3/lib/bootstrap.jar:/home/hzz/tools/pycharm-community-2017.3.3/lib/extensions.jar:/home/hzz/tools/pycharm-community-2017.3.3/lib/util.jar:/home/hzz/tools/pycharm-community-2017.3.3/lib/jdom.jar:/home/hzz/tools/pycharm-community-2017.3.3/lib/log4j.jar:/home/hzz/tools/pycharm-community-2017.3.3/lib/trove4j.jar:/home/hzz/tools/pycharm-community-2017.3.3/lib/jna.jar -Xms128m -Xmx750m -XX:ReservedCodeCacheSize=240m -XX:+UseConcMarkSweepGC -XX:SoftRefLRUPolicyMSPerMB=50 -ea -Dsun.io.useCanonCaches=false -Djava.net.preferIPv4Stack=true -XX:+HeapDumpOnOutOfMemoryError -XX:-OmitStackTraceInFastThrow -Dawt.useSystemAAFontSettings=lcd -Dsun.java2d.renderer=sun.java2d.marlin.MarlinRenderingEngine -XX:ErrorFile=/home/hzz/java_error_in_PYCHARM_%p.log -XX:HeapDumpPath=/home/hzz/java_error_in_PYCHARM.hprof -Didea.paths.selector=PyCharmCE2017.3 -Djb.vmOptionsFile=/home/hzz/tools/pycharm-community-2017.3.3/bin/pycharm64.vmoptions -Didea.platform.prefix=PyCharmCore com.intellij.idea.Main
  StartupNotify=false
  StartupWMClass=jetbrains-pycharm-ce
  OnlyShowIn=Unity;
  X-UnityGenerated=true

   

• 修改Exec=变量一行，在=后添加 bash -i -c 即改为

  [Desktop Entry]
  Encoding=UTF-8
  Version=1.0
  Type=Application
  Name=New Project
  Icon=jetbrains-pycharm-ce.png
  Path=/home/hzz/tools/pycharm-community-2017.3.3/bin
  Exec=bash -i -c "/home/hzz/tools/pycharm-community-2017.3.3/jre64/bin/java -Xbootclasspath/a:/home/hzz/tools/pycharm-community-2017.3.3/lib/boot.jar -classpath /home/hzz/tools/pycharm-community-2017.3.3/lib/bootstrap.jar:/home/hzz/tools/pycharm-community-2017.3.3/lib/extensions.jar:/home/hzz/tools/pycharm-community-2017.3.3/lib/util.jar:/home/hzz/tools/pycharm-community-2017.3.3/lib/jdom.jar:/home/hzz/tools/pycharm-community-2017.3.3/lib/log4j.jar:/home/hzz/tools/pycharm-community-2017.3.3/lib/trove4j.jar:/home/hzz/tools/pycharm-community-2017.3.3/lib/jna.jar -Xms128m -Xmx750m -XX:ReservedCodeCacheSize=240m -XX:+UseConcMarkSweepGC -XX:SoftRefLRUPolicyMSPerMB=50 -ea -Dsun.io.useCanonCaches=false -Djava.net.preferIPv4Stack=true -XX:+HeapDumpOnOutOfMemoryError -XX:-OmitStackTraceInFastThrow -Dawt.useSystemAAFontSettings=lcd -Dsun.java2d.renderer=sun.java2d.marlin.MarlinRenderingEngine -XX:ErrorFile=/home/hzz/java_error_in_PYCHARM_%p.log -XX:HeapDumpPath=/home/hzz/java_error_in_PYCHARM.hprof -Didea.paths.selector=PyCharmCE2017.3 -Djb.vmOptionsFile=/home/hzz/tools/pycharm-community-2017.3.3/bin/pycharm64.vmoptions -Didea.platform.prefix=PyCharmCore com.intellij.idea.Main" %f
  StartupNotify=false
  StartupWMClass=jetbrains-pycharm-ce
  OnlyShowIn=Unity;
  X-UnityGenerated=true

   

• 保存并退出。
• 添加 bash -i -c 是为了在通过快捷方式启动PyCharm的同时加载ROS环境变量（ROS环境变量加载脚本配置在 ~/.bashrc 文件内）