(1)直接在package<beginner_tutorials>目錄下的src中創建 talker.cpp和listener.cpp。。在Qt或者gedit中編輯都可以,,,不建議新手上來就使用vim編輯程序或者複製粘貼!!!
(2)在beginner_tutorials文件夾下的CmakeLists.txt的末尾中添加以下代碼
include_directories(include ${catkin_INCLUDE_DIRS}) add_executable(talker src/talker.cpp) target_link_libraries(talker ${catkin_LIBRARIES}) add_executable(listener src/listener.cpp) target_link_libraries(listener ${catkin_LIBRARIES})
保存!
(3)退回到工作空間 cd ~/catkin_ws/
執行 $ catkin_make編譯程序
(4)測試發佈器和接收器是否可執行
新開一個terminal,, cd ~/catkin_ws/
然後source一下(必須!!!)$ source ./devel/setup.bash
$ rosrun beginner_tutorials talker
再開一terminal $ source ./devel/setup.bash
rosrun beginner_tutorials listener
測試成功!!!
參考:
http://blog.csdn.net/xiaocainiaoshangxiao/article/details/13640789
http://blog.csdn.net/xiaocainiaoshangxiao/article/details/13700851