.bashrc文件： ros环境变量设置

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source /opt/ros/indigo/setup.bash######  kobuki_slamsource /opt/ros/indigo/setup.bashsource /home/yhzhao/catkin_ws/devel/setup.bashsource /home/yhzhao/hl_ws/devel/setup.bash#export ROS_PACKAGE_PATH=~/catkin_ws/src:$ROS_PACKAGE_PATHexport ROS_PACKAGE_PATH=~/catkin_ws/src:~/hl_ws/src:$ROS_PACKAGE_PATHexport ROS_WORKSPACE=~/hl_ws/src alias sbpi='ssh bananapi@192.168.1.102'alias bpi_ros='export ROS_MASTER_URI=http://192.168.1.102:11311 && export ROS_HOSTNAME=192.168.1.123'alias cdros='cd ~/catkin_ws/src'declare -x TURTLEBOT_GAZEBO_MAP_FILE="/opt/ros/indigo/share/turtlebot_gazebo/maps/corridor.yaml"declare -x TURTLEBOT_GAZEBO_WORLD_FILE="/opt/ros/indigo/share/turtlebot_gazebo/worlds/corridor.world"export TURTLEBOT_BASE=kobukiexport TURTLEBOT_STACKS=nostackexport TURTLEBOT_3D_SENSOR=rplidar######  slam_wssource /opt/ros/indigo/setup.bashsource /home/yhzhao/slam_ws/devel/setup.bashexport ROS_PACKAGE_PATH=~/slam_ws/src:$ROS_PACKAGE_PATHexport ROS_WORKSPACE=~/slam_ws/src#export ROS_HOSTNAME=192.168.1.111#export ROS_IP=192.168.1.111######  rgbd_slam#source /opt/ros/indigo/setup.bash#source /home/yhzhao/rgbdslam_ws/devel/setup.bash#source /home/yhzhao/rgbdslam_ws/devel/setup.bash#export ROS_PACKAGE_PATH=~/rgbdslam_ws/src:$ROS_PA#CKAGE_PATH#export ROS_WORKSPACE=~/rgbdslam_ws/src######  rtab_ws#source /opt/ros/indigo/setup.bash#source /home/yhzhao/slam_open_sources/ros_ws/devel/setup.bash#export ROS_PACKAGE_PATH=/home/yhzhao/slam_open_sources/ros_ws/src:$ROS_PACKAGE_PATH#export ROS_WORKSPACE=/home/yhzhao/slam_open_sources/ros_ws/src #source ~/rosbuild_ws/setup.bash

在bashrc中进行上面设置的原因,主要是在每次启动终端时,加载ros的配置变量,不然基本的ros指令就无法识别,也找不到对应包..

source 可以认为它是读取每一个环境变量设置. 支持覆盖重载..

ros一般在apt-get 安装下是装在/opt/ros/indigo/ 下面的, 可以认为它只安装了头文件和基本库的 release版本, 如果我们需要下载对应的源码, 最好在home文件夹下,创建

自己的工作空间, 再编译. 按照source 的次序支持包覆盖.

ROS_PACKAGE_PATH ros包查找的路径.

ROS_WORKSPACE 工作路径 . roscd 对应的位置.

参考:ROS编译:catkin简析

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