ROS基础完整教程

1. 创建catkin工作空间

...

mkdir -p ~/catkin_car/src

...

其中 -p 代表的是创建多级文件夹，如上所示，创建的是catkin_car与src这两个文件夹，并且src是在catkin_car之下

2. 编译工作空间

回到catkin_car 文件夹下，使用

catkin_make 

对catkin工作空间进行编译

3. 环境变量配置

ros中在创建catkin工作空间后，要想与ros进行连接，必须使得ros环境置顶，才能使用ros的变量，因此使用如下命令，使得环境变量配置

source devel/setup.bash

使用如下命令查看环境变量配置

export | grep ROS 

//  其中grep 代表的意思是搜寻含有ROS关键词所在的命令 

或者

echo $ROS_PAKCAGE_PATH

// echo 代表的是打印当前的内容 

4. 创建ros程序包

使用如下命令创建

cd src

catkin_create_pkg formcar roscpp rospy   // 其中 makecar是程序包的名字，roscpp是使用c++必备的包名字，rospy 是使用python  的必须的包

5. 自定义自己的消息文件

在包中创建msg文件夹，并创建.msg文件

mkdir  msg 

mkdir src

<?xml version="1.0"?>

<package format="2">

  <name>formcar</name>

  <version>0.0.0</version>

  <description>The formcar package</description>

  <!-- One maintainer tag required, multiple allowed, one person per tag -->

  <!-- Example:  -->

  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->

  <maintainer email="macl@todo.todo">macl</maintainer>

  <!-- One license tag required, multiple allowed, one license per tag -->

  <!-- Commonly used license strings: -->

  <!--  BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->

  <license>TODO</license>

  <!-- Url tags are optional, but multiple are allowed, one per tag -->

  <!-- Optional attribute type can be: website, bugtracker, or repository -->

  <!-- Example: -->

  <!-- <url type="website">http://wiki.ros.org/formcar</url> -->

  <!-- Author tags are optional, multiple are allowed, one per tag -->

  <!-- Authors do not have to be maintainers, but could be -->

  <!-- Example: -->

  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->

  <!-- The *depend tags are used to specify dependencies -->

  <!-- Dependencies can be catkin packages or system dependencies -->

  <!-- Examples: -->

  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->

  <!--  <depend>roscpp</depend> -->

  <!--  Note that this is equivalent to the following: -->

  <!--  <build_depend>roscpp</build_depend> -->

  <!--  <exec_depend>roscpp</exec_depend> -->

  <!-- Use build_depend for packages you need at compile time: -->

  <!--  <build_depend>message_generation</build_depend> -->

  <!-- Use build_export_depend for packages you need in order to build against this package: -->

  <!--  <build_export_depend>message_generation</build_export_depend> -->

  <!-- Use buildtool_depend for build tool packages: -->

  <!--  <buildtool_depend>catkin</buildtool_depend> -->

  <!-- Use exec_depend for packages you need at runtime: -->

  <!--  <exec_depend>message_runtime</exec_depend> -->

  <!-- Use test_depend for packages you need only for testing: -->

  <!--  <test_depend>gtest</test_depend> -->

  <!-- Use doc_depend for packages you need only for building documentation: -->

  <!--  <doc_depend>doxygen</doc_depend> -->

  <buildtool_depend>catkin</buildtool_depend>

  <build_depend>roscpp</build_depend>

  <build_depend>rospy</build_depend>

  <build_export_depend>roscpp</build_export_depend>

  <build_export_depend>rospy</build_export_depend>

  <exec_depend>roscpp</exec_depend>

  <exec_depend>rospy</exec_depend>

  <build_depend>message_generation</build_depend>

  <exec_depend>message_runtime</exec_depend>

  <build_depend>geometry_msgs</build_depend>

  <build_export_depend>geometry_msgs</build_export_depend>

  <exec_depend>geometry_msgs</exec_depend>

  <!-- The export tag contains other, unspecified, tags -->

  <export>

    <!-- Other tools can request additional information be placed here -->

  </export>

</package>