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