ROS(一)工程搭建

来源：互联网发布：seo 中文url 2017 编辑：程序博客网时间：2024/05/22 01:41

1、创建Catkin的WorkSpace
catkin是ROS的一个官方的编译构建系统，是原本的ROS的编译构建系统rosbuild的替代者。一个Catkin WorkSpace可以包含多个Catkin Packages.
创建步骤如下:
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
此时我们可以build此工程，尽管src目录下没有任何Packages.
cd ~/catkin_ws/
catkin_make
此时在catkin_ws目录下会生成build和devel目录,devel目录下有多个setup.*sh文件。
source devel/setup.bash
安装Ros工程，同时它会将当前目录添加到Ros的系统路径中
查看工程路径是否已经添加成功
echo $ROS_PACKAGE_PATH
显示：/home/youruser/catkin_ws/src:/opt/ros/kinetic/share:/opt/ros/kinetic/stacks
2、创建Catkin Package
1) Catkin Package结构

my_package/ CMakeLists.txt package.xml

2) Catkin Package工程结构
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workspace_folder/ – WORKSPACE
src/ – SOURCE SPACE
CMakeLists.txt – ‘Toplevel’ CMake file, provided by catkin
package_1/
CMakeLists.txt – CMakeLists.txt file for package_1
package.xml – Package manifest for package_1
…
package_n/
CMakeLists.txt – CMakeLists.txt file for package_n
package.xml – Package manifest for package_n
3) 创建 catkin package
cd ~/catkin_ws/src
创建一个名称为beginner_tutorials，依赖于std_msgs rospy roscpp的Package.
catkin_create_pkg beginner_tutorials std_msgs rospy roscpp
此命令执行后，会生成一个包含package.xml和CMakeLists.txt的beginner_tutorials 文件夹
4) Buid Package
cd ~/catkin_ws
catkin_make
添加工程到Ros环境变量
~/catkin_ws/devel/setup.bash

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