一、创建一个Catkin工作空间
步骤一:构建catkin工作空间
安装完成ROS版本后,设置好环境变量:$ source /opt/ros/kinetic/setup.bash。然后即可创建一个catkin工作空间。
$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src
$ catkin_init_workspace
$ cd ~/catkin_ws/
$ catkin_make
即在终端命令行创建一个Catkin工作空间的步骤为:
- 创建catkin工作空间所在的文件夹,如上的/catkin_ws;
- 在所创建的工作空间文件夹中,创建子文件夹/src;
- 在子文件夹src下,初始化一个新catkin工作空间;
- 返回catkin工作空间的根目录,即catkin_ws下;
- 使用catkin_make命令完成该catkin工作空间的构建。
首次运行catkin_make命令,将会在src文件夹下创建一个CMakeLists.txt文件,且在根目录下创建了两个子文件夹build和devel,如下图。
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" 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步骤二:配置环境变量
接着需要配置全局环境变量和该Catkin工作空间的安装路径,在终端命令行运行:
$ source ~/catkin_ws/devel/setup.bash
每次重新打开一个新的终端shell,都需要运行上述命令。为此你必须将该命令脚本加入~/.bashrc文件中,如此每次打开shell,.bashrc会自动运行,可使用以下命令添加:
$ echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
$ source ~/.bashrc
至此,全部完成catkin工作空间的创建,简略步骤如下:
- 创建catkin工作空间目录,如/catkin_ws/src;
- 在src目录下,使用catkin_init_workspace初始化一个catkin工作空间;
- 在catkin工作空间根目录下,使用catkin_make进行构建;
- 配置环境变量,启动当前catkin工作空间。
二、创建一个ROS功能包
步骤一:创建ROS功能包
ROS功能包必须位于Catkin工作空间,所以在创建ROS功能包前必须先创建好一个Catkin工作空间。在catkin工作空间目录的src目录下,使用catkin_create_pkg命令来创建一个ROS功能包。catkin_create_pkg的语法如下:
$ catkin_create_pkg <package_name> [depend1] [depend2] [depend3]
其中[depend1]、[depend2]、[depend3]是创建该软件功能包所需的特定软件功能包,一般称为依赖包。
步骤二:构建ROS功能包
然后构建该空软件功能包,即可在该catkin工作空间的根目录下使用catkin_make命令。至此完成该ROS功能包的创建,步骤如下:
- 使用catkin_create_pkg命令在catkin工作空间的src目录下创建功能包;
- 在该catkin工作空间的根目录下使用catkin_make命令完成构建。