Step 1
creat the work space and catkin_init_workspace(in src folder) &catkin_make(in workspace folder)
Step 2
creat the package (in src),catkin_create_pkg
Step 3
copy and edit the code in the jan_7_duckietown
main change: the location of the message 'TW..' class
Step 4
add such code in the CMakeLists.txt in package
add_executable(car_publisher src/car_publisher.cpp)
target_link_libraries(car_publisher ${catkin_LIBRARIES})
add_dependencies(car_publisher ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
Step 5
add msg-'TW..'into car_controller'
Step 6
edit the CMakelists.txt in package
1.find_package(catkin REQUIRED COMPONENTS
roscpp
std_msgs
message_generation ##added
)
2.
add_message_files(
FILES
Twist2DStamped.msg
# Message2.msg
)
3.
generate_messages(
DEPENDENCIES
std_msgs
)
4.
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES car_controller
CATKIN_DEPENDS message_runtime
# DEPENDS system_lib
)
Step 7 edit the package.xml
<run_depend>message_runtime</run_depend>
<build_depend>message_generation</build_depend>
creat the work space and catkin_init_workspace(in src folder) &catkin_make(in workspace folder)
Step 2
creat the package (in src),catkin_create_pkg
Step 3
copy and edit the code in the jan_7_duckietown
main change: the location of the message 'TW..' class
Step 4
add such code in the CMakeLists.txt in package
add_executable(car_publisher src/car_publisher.cpp)
target_link_libraries(car_publisher ${catkin_LIBRARIES})
add_dependencies(car_publisher ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
Step 5
add msg-'TW..'into car_controller'
Step 6
edit the CMakelists.txt in package
1.find_package(catkin REQUIRED COMPONENTS
roscpp
std_msgs
message_generation ##added
)
2.
add_message_files(
FILES
Twist2DStamped.msg
# Message2.msg
)
3.
generate_messages(
DEPENDENCIES
std_msgs
)
4.
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES car_controller
CATKIN_DEPENDS message_runtime
# DEPENDS system_lib
)
Step 7 edit the package.xml
<run_depend>message_runtime</run_depend>
<build_depend>message_generation</build_depend>