ROS_Begin

1. Turtlesim Try

rospack find turtlesim

Begin

roscorerosrun turtlesim turtlesim_noderosrun turtlesim turtle_teleop_key//The three commands must be in three shells.

2. Create a workspace

echo $ROS_PACKAGE_PATHmkdir -p ~/dev/catkin_ws/srccd ~/dev/catkin_ws/srccatkin_init_workspacecd ~/dev/catkin_wscatkin_makesource devel/setup.bash     //在新终端下无法定位功能包时，可运行此命令解决，因此可将此命令写入.bashrc中彻底解决问题。

3. Create a package and build it

cd ~/dev/catkin_ws/srccatkin_create_pkg tutorials std_msgs roscpp//catkin_create_pkg [package_name] [depend1] [depend2] [depend...]cd ~/dev/catkin_wscatkin_make     //build all//catkin_make tutorials //build tutorials only