创造一个简单的ROS package 和建立和编译package

来源：互联网发布：中小企业数据备份编辑：程序博客网时间：2024/05/16 18:38

from:http://blog.sina.com.cn/s/blog_661159d50100ocj9.html

参考网址：

1，http://www.ros.org/wiki/ROS/Tutorials/CreatingPackage

2，http://bbs.axnzero.com/viewthread.php?tid=657

ROS的软件以Package的方式组织起来。package包含节点（Node）、ROS依赖库、数据套、配置文件、第三方软件、或者任何其他逻辑构成。package的目标是提供一种易于使用的结构以便于软件的重复使用。总得来说，ROS的package遵从Goldilocks原则：短小精干。所有的ROSpackages包括很多类似的文件：manifests, CMakeLists.txt, mainpage.dox,和Makefiles.

package很容易手工制作，也可使用其他工具，例如roscreate-pkg。ROS的package可以是ROS_ROOT或者ROS_PACKAGE_PATH里面的一个目录/文件夹，包含一个manifest.xml文件。package可以是ROSstacks的组成部分。首先我们用roscreate来创建package：

$ roscreate-pkg [package_name]

这里我直接引用官网提供的这个例子：－－－创建beginner_tutorialspackage，他依赖std_msgs, roscpp, rospy

(1) 利用 rorcreate-pkg 创建 package

$ roscreate-pkg beginner_tutorials std_msgs roscpp rospy

eg:

 roscreate-pkg roscv sensor_msgs opencv2 cv_bridge roscpp std_msgs image_transport turtlesim ardrone_brown std_srvs

得到结果：

Created package directory/opt/ros/cturtle/ros/beginner_tutorials

Created include directory/opt/ros/cturtle/ros/beginner_tutorials/include/beginner_tutorials

Created cpp source directory/opt/ros/cturtle/ros/beginner_tutorials/src

Created package file/opt/ros/cturtle/ros/beginner_tutorials/Makefile

Created package file/opt/ros/cturtle/ros/beginner_tutorials/manifest.xml

Created package file/opt/ros/cturtle/ros/beginner_tutorials/CMakeLists.txt

Created package file/opt/ros/cturtle/ros/beginner_tutorials/mainpage.dox

Please editbeginner_tutorials/manifest.xml and mainpage.dox to finish creatingyour package

这里我们需要仔细阅读manifest.xml，所以这里我把生成的manifest.xml贴于下面：

<descriptionbrief="beginner_tutorials"> beginner_tutorials </description>

<reviewstatus="unreviewed" notes=""/>

<url>http://ros.org/wiki/beginner_tutorials</url>

<dependpackage="std_msgs"/>

<dependpackage="rospy"/>

<dependpackage="roscpp"/>

</package>

(2) 将该路径添加到rox系统中（即更新ros查找路径）

$ exportROS_PACKAGE_PATH=YOUR_BEGINNER_TUTORIALS_PATH:$ROS_PACKAGE_PATH

对于我机子而已，是这样添加：

$ exportROS_PACKAGE_PATH=./:$ROS_PACKAGE_PATH

然后我确认是否在ROS可以找到：

$ rospackfind beginner_tutorials

结果如下：

/opt/ros/cturtle/ros/beginner_tutorials

(3) 我们可以查看package相关第一层依赖项

$ rospack depends1 beginner_tutorials －－－－package第一层依赖项查询

结果如下：

std_msgs

rospy

roscpp

$ rospack depends1 rospy－－－－package依赖项rospy的第一层依赖项查询

结果如下：

roslib

roslang

$ rospack depends beginner_tutorials －－－package所有依赖项查询

genmsg_cpp

rospack

roslib

rosconsole

std_msgs

roslang

rospy

xmlrpcpp

roscpp

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

参考网址：http://www.ros.org/wiki/ROS/Tutorials/BuildingPackages

前面我们用roscreate-pkg建立package，这里我们根据系统关联来编译这些packages

1，系统关联

ROSpackage有时运行时需要连接外部库或者可执行程序。这些库或者程序的连接经常被关联到系统关联中。在一些情况下，这些系统关联不会被默认的安装，ROS提供了一个简单的工具－－rosdep，用来下载和安装系统关联的。

ROS rospack必须在相应的packagemanifest申明，参考小海龟的例子，

$ roscdturtlesim

$ catmanifest.xml

得到结果：

<descriptionbrief="turtlesim">

turtlesim is a tool made for teaching ROS andROS-PKGS.

</description>

<author>JoshFaust</author>

<reviewstatus="unreviewed" notes=""/>

<url>http://ros.org/wiki/turtlesim</url>

<dependpackage="roscpp"/>

<dependpackage="roslib"/>

<dependpackage="rosconsole"/>

<dependpackage="std_srvs"/>

<rosdepname="wxwidgets"/>

</export>

<platformos="ubuntu" version="9.04"/>

<platformos="ubuntu" version="9.10"/>

<platformos="ubuntu" version="10.04"/>

</package>－－－－－得到turtlesim需要exwidgets

rosdep命令－－－－根据ROS packages来安装系统变量

用法：

$ rosdepinstall [package]

例子：

$ rosdepinstall turtlesim

得到结果：

executing this script: －－－－－如果已经安装

set -o errexit

#No Packages to install

set -o errexit －－－－－如果没有安装

set -o verbose

if [ ! -f /opt/ros/lib/libboost_date_time-gcc42-mt*-1_37.a ] ;then

mkdir -p~/ros/ros-deps

cd ~/ros/ros-deps

wget --tries=10http://pr.willowgarage.com/downloads/boost_1_37_0.tar.gz

tar xzfboost_1_37_0.tar.gz

cd boost_1_37_0

./configure--prefix=/opt/ros

make

sudo make install

if [ ! -f /opt/ros/lib/liblog4cxx.so.10 ] ; then

mkdir -p~/ros/ros-deps

cd ~/ros/ros-deps

wget --tries=10http://pr.willowgarage.com/downloads/apache-log4cxx-0.10.0-wg_patched.tar.gz

tar xzfapache-log4cxx-0.10.0-wg_patched.tar.gz

cdapache-log4cxx-0.10.0

./configure--prefix=/opt/ros

make

sudo make install

if [ ! -f /opt/ros/lib/libboost_date_time-gcc42-mt*-1_37.a ] ;then

mkdir -p~/ros/ros-deps

cd ~/ros/ros-deps

wget --tries=10http://pr.willowgarage.com/downloads/boost_1_37_0.tar.gz

tar xzfboost_1_37_0.tar.gz

cd boost_1_37_0

./configure--prefix=/opt/ros

make

sudo make install

if [ ! -f /opt/ros/lib/liblog4cxx.so.10 ] ; then

mkdir -p~/ros/ros-deps

cd ~/ros/ros-deps

wget --tries=10http://pr.willowgarage.com/downloads/apache-log4cxx-0.10.0-wg_patched.tar.gz

tar xzfapache-log4cxx-0.10.0-wg_patched.tar.gz

cdapache-log4cxx-0.10.0

./configure--prefix=/opt/ros

make

sudo make install

2，编译packages

当所有的系统关联都已经被安装，我们就可以开始用 rosmake命令编译我们创建好的package

rosmake命令－－－编译package

(1)编译单个package

用法：

$ rosmake[package]

例子：

$ rosmakebeginner_tutorials

得到结果：

[ rosmake ] Packages requested are: ['beginner_tutorials']

[ rosmake ] Logging todirectory/home/jason/.ros/rosmake/rosmake_output-20110110-092837

[ rosmake ] Expanded args ['beginner_tutorials'] to:

['beginner_tutorials']

[ rosmake ] Checking rosdeps compliance for packagesbeginner_tutorials. This may take a fewseconds.

[ rosmake ] rosdep check passed all system dependencies inpackages

[rosmake-0] Starting>>> roslib [ make ]

[rosmake-0] Finished<<< roslib ROS_NOBUILDin package roslib

[rosmake-1] Starting>>> roslang [ make ]

[rosmake-0] Starting>>> rosconsole [ make]

[rosmake-0] Finished<<< rosconsoleROS_NOBUILD in package rosconsole

[rosmake-0] Starting>>> std_msgs [ make ]

[rosmake-1] Finished<<< roslangROS_NOBUILD in package roslang

No Makefile in package roslang

[rosmake-0] Finished<<< std_msgsROS_NOBUILD in package std_msgs

[rosmake-0] Starting>>> xmlrpcpp [ make ]

[rosmake-1] Starting>>> rospy [ make ]

[rosmake-1] Finished<<< rospy ROS_NOBUILDin package rospy

[rosmake-0] Finished<<< xmlrpcppROS_NOBUILD in package xmlrpcpp

[rosmake-0] Starting>>> roscpp [ make ]

[rosmake-0] Finished<<< roscpp ROS_NOBUILDin package roscpp

[rosmake-0] Starting>>> beginner_tutorials[ make ]

[rosmake-1] Starting>>> rosout [ make ]

[rosmake-1] Finished<<< rosout ROS_NOBUILDin package rosout

[ rosmake ] All 2 linesbeginner_tutorials: 0.1 sec ] [ 1Active 10/11 Complete ]

{-------------------------------------------------------------------------------

mkdir: cannot createdirectory `build': Permission denied

-------------------------------------------------------------------------------}

[ rosmake ] Output from build of package beginner_tutorialswritten to:

[ rosmake ] /home/jason/.ros/rosmake/rosmake_output-20110110-092837/beginner_tutorials/build_output.log

[rosmake-0] Finished<<< beginner_tutorials[FAIL] [ 0.09 seconds ]

[ rosmake ] Halting due to failure in packagebeginner_tutorials.

[ rosmake ] Waiting for other threads to complete.

[ rosmake ] Results:

[ rosmake ] Built 11 packages with 1 failures.

[ rosmake ] Summary output to directory

[ rosmake ]/home/jason/.ros/rosmake/rosmake_output-20110110-092837

(2)编译多个packages

用法：

$ rosmake[package1] [package2] [package3]

例子：

$ rosdepinstall turtle_teleop rxtools

$ rosmaketurtle_teleop roscpp_tutorials rospy_tutorials rxtools

创造一个简单的ROS package 和 建立和编译package

创造一个简单的ROS package 和建立和编译package