ROS-Tutorials 1

ROS Filesystem

rospack find [package_name]
roscd [/subdir]
rosls [/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 [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

  talker
  0.0.0
  The talker package

  jk
  MIT
  http://wiki.ros.org/talker
  Jane Doe


  catkin

  roscpp
  rospy
  std_msgs

  roscpp
  rospy
  std_msgs

  roscpp
  rospy
  std_msgs
  

作用如其内容所示