第一個ROS程序

創建工作空間 (home目錄下)

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

創建功能包

catkin_create_pkg hello_ros

包內創建hello.cpp文件

cd hello_ros
vim hello.cpp

複製下方代碼到hello.cpp

#include <ros/ros.h>

 int main(int argc, char **argv) 
{ 
	ros::init(argc,argv,"hello"); 
	ros::NodeHandle n; 
	ROS_INFO("Hello ROS!");
	ros::spinOnce(); 
}

修改CmakeList.txt，替換以下內容

cmake_minimum_required(VERSION 2.8.3)
project(hello_ros)

find_package(catkin REQUIRED COMPONENTS  
    roscpp # roscpp依賴庫
)

catkin_package(
)

include_directories(include ${catkin_INCLUDE_DIRS})

# 聲明需要創建的可執行文件
add_executable(hello hello.cpp)
target_link_libraries(hello ${catkin_LIBRARIES})

進行編譯 (catkin_ws工作目錄下)

cd ~/catkin_ws
catkin_make

執行腳本文件

source devel/setup.bash

運行節點

rosrun hello_ros hello

結果如圖：

OK.