ROS探究（一）建立項目

tzy@ubuntu:~$ mkdir -p ROS_Example/catkin_ws/src

tzy@ubuntu:~$ cd ROS_Example/catkin_ws/

tzy@ubuntu:~/ROS_Example/catkin_ws$ catkin_make

以上指令等價于

catkin_ws目錄下會生成以下三個檔案夾

tzy@ubuntu:~/ROS_Example/catkin_ws$ ls  

build devel src

src下的CMakeLists是軟連結

tzy@ubuntu:~/ROS_Example/catkin_ws$ ll src/CMakeLists.txt

lrwxrwxrwx 1 tzy tzy 50 Oct 27 17:10 src/CMakeLists.txt -> /opt/ros/kinetic/share/catkin/cmake/toplevel.cmake

tzy@ubuntu:~/ROS_Example/catkin_ws$ source devel/setup.bash

要保證工作區被安裝腳本正确覆寫，需确定ROS_PACKAGE_PATH環境變量包含你目前的工作空間目錄：

tzy@ubuntu:~/ROS_Example/catkin_ws$ echo $ROS_PACKAGE_PATH

/home/tzy/ROS_Example/catkin_ws/src:/opt/ros/kinetic/share

現在使用catkin_create_pkg指令建立一個名為beginner_tutorials的新軟體包，這個軟體包依賴于std_msgs、roscpp和rospy這3個包

tzy@ubuntu:~/ROS_Example/catkin_ws$ catkin_create_pkg beginner_tutorials std_msgs rospy roscpp

Created file beginner_tutorials/CMakeLists.txt

Created file beginner_tutorials/package.xml

Created folder beginner_tutorials/include/beginner_tutorials

Created folder beginner_tutorials/src

Successfully created files in /home/tzy/ROS_Example/catkin_ws/beginner_tutorials. Please adjust the values in package.xml.

std_msgs對于ROS來說也是一個軟體包，可以用操作軟體包的指令進行檢視

tzy@ubuntu:~/ROS_Example/catkin_ws$ rosls std_msgs/

cmake msg package.xml

tzy@ubuntu:~/Desktop$ roscd std_msgs

tzy@ubuntu:/opt/ros/kinetic/share/std_msgs$ ls

std_msgs包對應的原始代碼連結

GitHub - ros/std_msgs: Contains minimal messages of primitive data types and multiarrays. Intended for quick prototyping, not production use.