ROS(一)工程搭建

怼烎@ 2022-09-25 00:26 308阅读 0赞

1、创建Catkin的WorkSpace  
catkin是ROS的一个官方的编译构建系统，是原本的ROS的编译构建系统rosbuild的替代者。一个Catkin WorkSpace可以包含多个Catkin Packages.  
创建步骤如下:  
mkdir -p ~/catkin\_ws/src  
cd ~/catkin\_ws/src  
catkin\_init\_workspace  
此时我们可以build此工程，尽管src目录下没有任何Packages.  
cd ~/catkin\_ws/  
catkin\_make  
此时在catkin\_ws目录下会生成build和devel目录,devel目录下有多个setup.\*sh文件。  
source devel/setup.bash  
安装Ros工程，同时它会将当前目录添加到Ros的系统路径中  
查看工程路径是否已经添加成功  
echo $ROS\_PACKAGE\_PATH  
显示：/home/youruser/catkin\_ws/src:/opt/ros/kinetic/share:/opt/ros/kinetic/stacks  
2、创建Catkin Package  
1) Catkin Package结构

<table> 
 <thead> 
  <tr> 
   <th align="center">my_package/</th> 
  </tr> 
 </thead> 
 <tbody> 
  <tr> 
   <td align="center">CMakeLists.txt</td> 
  </tr> 
  <tr> 
   <td align="center">package.xml</td> 
  </tr> 
 </tbody> 
</table>

2) Catkin Package工程结构  
\[html\] view plain copy  
workspace\_folder/ – WORKSPACE  
src/ – SOURCE SPACE  
CMakeLists.txt – ‘Toplevel’ CMake file, provided by catkin  
package\_1/  
CMakeLists.txt – CMakeLists.txt file for package\_1  
package.xml – Package manifest for package\_1  
…  
package\_n/  
CMakeLists.txt – CMakeLists.txt file for package\_n  
package.xml – Package manifest for package\_n  
3) 创建 catkin package  
cd ~/catkin\_ws/src  
创建一个名称为beginner\_tutorials，依赖于std\_msgs rospy roscpp的Package.  
catkin\_create\_pkg beginner\_tutorials std\_msgs rospy roscpp  
此命令执行后，会生成一个包含package.xml和CMakeLists.txt的beginner\_tutorials 文件夹  
4) Buid Package  
cd ~/catkin\_ws  
catkin\_make  
添加工程到Ros环境变量  
~/catkin\_ws/devel/setup.bash