ROS實操筆記一 原

tutorial1

1.查看ros有關環境變量

$ printenv | grep ROS

2.Create a ROS Workspace

$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/
$ catkin_make

添加當前workspace變量

$ source devel/setup.bash

查看確認變量添加成功

$ echo $ROS_PACKAGE_PATH
/home/youruser/catkin_ws/src:/opt/ros/kinetic/share

tutorial2

ROS filesystem concepts

1.查找package信息

$ rospack find [package_name]

2. roscd,rosls

tutorial3

create a new package

1.最簡單的包結構必須包含：

my_package/
  CMakeLists.txt
  package.xml

2.創建包（src目錄下）

# catkin_create_pkg <package_name> [depend1] [depend2] [depend3]

$ cd ~/catkin_ws/src

$ catkin_create_pkg beginner_tutorials std_msgs rospy roscpp

3.build（workspace目錄）

$ cd ~/catkin_ws
$ catkin_make

添加當前變量（這一步必做，不然找不到新建的包）

$ . ~/catkin_ws/devel/setup.bash

4.查看包依賴

直接依賴：

$rospack depends1 beginner_tutorials

遞歸依賴：depends1 替換成depends

5.修改package.xml和CMakeLists.txt