ROS-Tutorials 1

ROS Filesystem

rospack find [package_name]
roscd <package-or-stack>[/subdir]
rosls <package-or-stack>[/subdir]
(source /devel/setup.sh)

---

ROS Package

标准的文件树关系

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

说明package是建立在src里面的

Creating a catkin package

$ cd ~/catkin_ws/src
$ catkin_create_pkg <name> [depen1] [depend2]...

Building a catkin workspace and sourcing the setup file

$ cd ~/catkin_ws
$ catkin_make
$ . ~/catkin_ws/devel/setup.bash

Check package

$ rospack depends1 beginner_tutorials

Introduce package.xml

Final package.xml is like this

<?xml version="1.0"?>
<package format="2">
  <name>talker</name>
  <version>0.0.0</version>
  <description>The talker package</description>

  <maintainer email="jk@todo.todo">jk</maintainer>
  <license>MIT</license>
  <url type="website">http://wiki.ros.org/talker</url>
  <author email="jane.doe@example.com">Jane Doe</author>


  <buildtool_depend>catkin</buildtool_depend>

  <build_depend>roscpp</build_depend>
  <build_depend>rospy</build_depend>
  <build_depend>std_msgs</build_depend>

  <build_export_depend>roscpp</build_export_depend>
  <build_export_depend>rospy</build_export_depend>
  <build_export_depend>std_msgs</build_export_depend>

  <exec_depend>roscpp</exec_depend>
  <exec_depend>rospy</exec_depend>
  <exec_depend>std_msgs</exec_depend>
  
</package>

作用如其内容所示