ros 第三组

1、输出环境变量

$printenv | grep ROS

ROS_ROOT=/opt/ros/kinetic/share/ros

ROS_PACKAGE_PATH=/home/wlzxzq/catkin_ws/src:/opt/ros/kinetic/share

ROS_MASTER_URI=http://localhost:11311

ROS_VERSION=1

ROS_HOSTNAME=localhost

ROSLISP_PACKAGE_DIRECTORIES=/home/wlzxzq/catkin_ws/devel/share/common-lisp

ROS_DISTRO=kinetic

ROS_ETC_DIR=/opt/ros/kinetic/etc/ros

输出路径

echo $ROS_PACKAGE_PATH

/home/wlzxzq/catkin_ws/src:/opt/ros/kinetic/share

 

2、工作空间过载ROS中同时使用多个工作空间（空间重叠overlay）

 

在安装使用turtlebot的过程中碰到了这个问题，turtlebot源码安装驱动时。已经有四层空间（echo $ROS_PACKAGE_PATH查看）如下所示：

 

/home/pei/turtlebot_ws/turtlebot/src:/home/pei/turtlebot_ws/kobuki/src:/home/pei/turtlebot_ws/rocon/src:/opt/ros/kinetic/share

 

然后我自己还有一个自主导航的空间catkin_ws要加入进来，仿照turtlebot的方法

$ mkdir ~/rocon

$ cd ~/rocon

$ wstool init -j5 src https://raw.github.com/robotics-in-concert/rocon/indigo/rocon.rosinstall $ source /opt/ros/indigo/setup.bash

$ rosdep install --from-paths src -i -y

$ catkin_make

 

$ mkdir ~/kobuki

$ cd ~/kobuki

$ wstool init src -j5

 https://raw.github.com/yujinrobot/yujin_tools/master/rosinstalls/indigo/kobuki.rosinstall

$ source ~/rocon/devel/setup.bash $ rosdep install --from-paths src -i -y

$ catkin_make

 

$ mkdir ~/turtlebot

$ cd ~/turtlebot

$ wstool init src -j5

https://raw.github.com/yujinrobot/yujin_tools/master/rosinstalls/indigo/turtlebot.rosinstall $ source ~/kobuki/devel/setup.bash $ rosdep install --from-paths src -i -y

$ catkin_make

 

用下面的命令可以将catkin_ws加入进来

 

$ mkdir -p ~/turtlebot_ws/catkin_ws

$ cd ~/turtlebot_ws/catkin_ws

$ wstool init src

$ cd src

$ git clone Your_sourcecode_url

$ cd ..

$ source ~/turtlebot_ws/turtlebot/devel/setup.bash

$ rosdep install --from-paths src -i -y

$ catkin_make

这样，就有五层空间了（此处我将这四个workspace都放到turtlebot_ws目录下了）

​ 

参考文章：wiki

http://wiki.ros.org/catkin/Tutorials/workspace_overlaying