ROS入门教程(新建工作空间/功能包/编译和运行)

1. 新建工作空间

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


cd ~/catkin_ws/
catkin_make


source devel/setup.bash

2.创建一个功能包 （新的terminal）

cd ～/catkin_ws/src
catkin_create_pkg msg2image cv_bridge image_transport roscpp rospy sensor_msgs std_msgs        // msg2image包

cd ~/catkin_ws

进行编译

catkin_make

3.运行程序

 (1)编译 catkin_make
    cd ~/catkin_ws
    catkin_make  
 
 (2)运行C++程序
     source devel/setup.bash
     rosrun msg2image msg2img2
    

  (3)播放bag包

     rosbag play XXXX.bag