ROS学习笔记1-Beginner level
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PART 1-Navigating the ROS Filesystem
1. rospack find [package_name]
2. roscd [ locationname[ /sudir] ]
subdirections: roscd roscpp/cmake
roscd log ( take you you to the folder where ROS stores log files)
3. rosls [ locationname[ /sudir] ]
PART 2-Creating a ROS package
1. Packages in a catkin workspace
2. Creating a catkin package
catkin_create_pkg <package_name> [depend1] [depend2] [depend3]
3. Building a catkin workspace and sourcing the setup file
build :
$ cd ~/catkin_ws$ catkin_makesource:
$ . ~/catkin_ws/devel/setup.bash4. Package dependencies
$ rospack depends1 beginner_tutorialsThese dependencies for a package are stored in the package.xml file. To see it:
$ roscd beginner_tutorials$ cat package.xmla dependency will also have its own dependencies.
$ rospack depends1 rospyA package can have quite a few indirect dependencies.
$ rospack depends beginner_tutorials5. Customizing your package
a. Customizing the package.xml
1 <?xml version="1.0"?> 2 <package> 3 <name>beginner_tutorials</name> 4 <version>0.1.0</version> 5 <description>The beginner_tutorials package</description> 6 7 <maintainer email="you@yourdomain.tld">Your Name</maintainer> 8 <license>BSD</license> 9 <url type="website">http://wiki.ros.org/beginner_tutorials</url> 10 <author email="you@yourdomain.tld">Jane Doe</author> 11 12 <buildtool_depend>catkin</buildtool_depend> 13 14 <build_depend>roscpp</build_depend> 15 <build_depend>rospy</build_depend> 16 <build_depend>std_msgs</build_depend> 17 18 <run_depend>roscpp</run_depend> 19 <run_depend>rospy</run_depend> 20 <run_depend>std_msgs</run_depend> 21 22 </package>
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