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1、創建過程
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src/
catkin_init_workspace
2、編譯空間
cd ~/catkin_ws/
catkin_make
3、使環境變量生效
source devel/setup.bash
4、確保環境變量生效
echo $ROS_PACKAGE_PATH
#輸出:/home/luda/catkin_ws/src:/opt/ros/kinetic/share
注意:
在終端使用source命令設置的環境變量只能在當前終端中生效,如果希望環境變量在所以終端中有效,則需要在終端的配置文件中加入環境變量的設置
echo "source /WORKSPACE/devel/setup.bash" >>~/.bashrc
#將WORKSPACE替換成你自己的工作空間路徑
#例如我的:echo "source /home/luda/catkin_ws/devel/setup.bash" >>~/.bashrc
5、創建功能包
cd ~/catkin_ws/src
catkin_create_pkg learning_communication std_msgs rospy roscpp
6、編譯及設置環境變量
cd ~/catkin_ws
catkin_make
source ~/catkin_ws/devel/setup.bash