一、安裝ROS(參考官網:http://wiki.ros.org/indigo/Installation/Ubuntu)
1.設置計算機接受來自packages.ros.org的軟件。
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
2.設置keys
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
3.安裝ros
首先更新
sudo apt-get update
再全部安裝
sudo apt-get install ros-indigo-desktop-full
apt-cache search ros-indigo
4.安裝rosdep
sudo rosdep init
rosdep update
5.環境設置
echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
source ~/.bashrc
6.安裝rosinstallsudo apt-get install python-rosinstall
sudo rosdep init
rosdep update
二、創建工作空間catkin
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
三、編譯工作空間
cd ~/catkin_ws
catkin_make
四、source路徑
source ~/catkin_ws/devel/setup.bash
rospack profile
或者 一次性打印到系統環境中去:
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
五、創建一個catkin包
cd ~/catkin_ws/src
catkin_create_pkg package_name
此時包裏面含有package.xml和CMakeLists.txt兩個文件,在該目錄下可以編輯創建source_files.cpp文件
六、編譯源程序
1.首先在CMakeLists.txt中聲明依賴庫,
find_package(catkin REQUIRED COMPONENTS package-names)
2.接着在package.xml 中列出依賴庫
<build_depend>package-name</build_depend>
<run_depend>package-name</run_depend>
3.最後在CMakeLists.txt中聲明可執行文件:
add_executable(executable-name source-files.cpp)
target_link_libraries(executable-name ${catkin_LIBRARIES})
4.編譯工作區:在工作空間catkin_ws中catkin_make
5.運行節點管理器:roscore
6.Sourcing setup.bash:source devel/setup.bash
這個自動生成的腳本文件設置了若干環境變量,從而使ROS能夠找到你創建的功能包和新生成的可執行文件。除非目錄結構發生變化,否則你只需要在每個終端執行此命令一次,即使你修改了代碼並且用catkin_make 執行了重編譯。
7.執行程序:在工作空間catkin_ws 目錄下運行 rosrun package_name executable-name