ROS学习手记 - 2 Create and Build ROS Package 生成包（C++）

For ROS experienced user, You can just skip to the Constuction about ROS Package usage:

For Quick Reference(C++): http://blog.csdn.net/sonictl/article/details/46764855#t5

For Quick Reference(Python): http://blog.csdn.net/sonictl/article/details/46764855#t15

=== 在上一篇的基础上，Create并Customize了Package之后，要Build Package ===

来源：http://wiki.ros.org/ROS/Tutorials/BuildingPackages

  1. 确认source有没有完成 (版本： hydro)：

   $ source /opt/ros/hydro/setup.bash

   2. Using catkin_make

      使用方法：

   # In a catkin workspace
   $ catkin_make [make_targets] [-DCMAKE_VARIABLES=...]

     这里catkin_make使用了CMake 的workflow来操作，科普一下这个workflow:

    

   3. 如何写ROS的Publisher and Subscriber(C++)

       因为要涉及到对CMakeLists.txt的写法，需要先了解这个文章：http://wiki.ros.org/ROS/Tutorials/WritingPublisherSubscriber%28c%2B%2B%29
       具体关于CMakeLists.txt文件，请看http://wiki.ros.org/catkin/CMakeLists.txt

    4. 关于workspace下的build devel src文件夹

        The build folder is the default location of thebuild space and is wherecmake andmake are called to configure and build your packages.
        The devel folder is the default location of thedevel space, which is where your executables and libraries go before you install your packages.

    5. Build the package

       catkin_make命令执行情况如下：

exbot@ubuntu:~/catkin_ws$ ls
build  devel  src
exbot@ubuntu:~/catkin_ws$ catkin_make
Base path: /home/exbot/catkin_ws
Source space: /home/exbot/catkin_ws/src
Build space: /home/exbot/catkin_ws/build
Devel space: /home/exbot/catkin_ws/devel
Install space: /home/exbot/catkin_ws/install
####
#### Running command: "make cmake_check_build_system" in "/home/exbot/catkin_ws/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/exbot/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/hydro
-- This workspace overlays: /opt/ros/hydro
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Python version: 2.7
-- Using Debian Python package layout
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/exbot/catkin_ws/build/test_results
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-- catkin 0.5.86
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 7 packages in topological order:
-- ~~  - beginner_tutorials
-- ~~  - exbotxi_bringup
-- ~~  - exbotxi_description
-- ~~  - exbotxi_example
-- ~~  - exbotxi_nav
-- ~~  - exbotxi_rviz
-- ~~  - exbotxi_teleop
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'beginner_tutorials'
-- ==> add_subdirectory(beginner_tutorials)
-- +++ processing catkin package: 'exbotxi_bringup'
-- ==> add_subdirectory(exbot_xi/exbotxi_bringup)
-- +++ processing catkin package: 'exbotxi_description'
-- ==> add_subdirectory(exbot_xi/exbotxi_description)
-- +++ processing catkin package: 'exbotxi_example'
-- ==> add_subdirectory(exbot_xi/exbotxi_example)
-- +++ processing catkin package: 'exbotxi_nav'
-- ==> add_subdirectory(exbot_xi/exbotxi_nav)
-- +++ processing catkin package: 'exbotxi_rviz'
-- ==> add_subdirectory(exbot_xi/exbotxi_rviz)
-- +++ processing catkin package: 'exbotxi_teleop'
-- ==> add_subdirectory(exbot_xi/exbotxi_teleop)
-- Configuring done
-- Generating done
-- Build files have been written to: /home/exbot/catkin_ws/build
####
#### Running command: "make -j1 -l1" in "/home/exbot/catkin_ws/build"
####
[100%] Built target move
exbot@ubuntu:~/catkin_ws$ 

      
       虽然跟教程上有点不同，但没遇到错误，就这样吧。。

======  【总结 for Quick Reference (C++)】  ======

Constuction about ROS Package:

1. Create ROS Workspace(catkin)
2. Create ROS Package (catkin)
3. Build ROS Package (catkin)
4. Delete ROS Package (catkin)
   

== 1. Create ROS Workspace (catkin)==

1. create a catkin workspace

   $ mkdir -p ~/catkin_ws/src
   $ cd ~/catkin_ws/src
   $ catkin_init_workspace

2. Make
Even though the workspace is empty (there are no packages in the 'src' folder, just a single CMakeLists.txt link) you can still "build" the workspace:

     $ cd ~/catkin_ws/
     $ catkin_make

3. Source

    $ source devel/setup.bash

4. Check:

     $ echo $ROS_PACKAGE_PATH

/home/youruser/catkin_ws/src:/opt/ros/indigo/share:/opt/ros/indigo/stacks

=== 2. Create an Empty ROS Package (catkin) ===

1. 确认你的catkin Workspace：~/catkin_ws/

2.     $ cd ~/catkin_ws/src

3. 创建package

     $ catkin_create_pkg <package_name> [depend1] [depend2] [depend3] ... [dependn]

     # for example :

   $ catkin_create_pkg beginner_tutorials std_msgs rospy roscpp

4. 编译catkin Workspace:

     $ cd ~/catkin_ws
     $ catkin_make

5. Source the generated setup file:

     $ . ~/catkin_ws/devel/setup.bash

=== 3. Customize ROS Package (catkin) ===

• Add / Edit the source code file in your <package>/src/ path
• Customize the package.xml ref this page
  
• Customize the CMakeLists.txt

1. Edit the code in ~/catkin_ws/src/<package_name>/src/

     Add source code file: SouceCode.cpp or SourceCode.py  etc.

2. Modify the CMakeFile.txt , (refer the details about CMakeLists.txt : link )

     Modify the CMakeList.txt file:

    $ cd ~/catkin_ws/src/<package_name>
    $ gedit CMakeList.txt

     add/modify these lines as below:

find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
)

include_directories(
  ${catkin_INCLUDE_DIRS}
)

add_executable(<package_name> src/<soucefile_name>.cpp)

add_dependencies(<package_name> ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

target_link_libraries(<package_name>
   ${catkin_LIBRARIES}
 )

=== 4. Build the ROS Package (catkin) ===

ref page: link

1. Source your environment setup file
   
2. catkin_make [make_targets] [-DCMAKE_VARIABLES=...]
   

1. Source env setup file: （Optional）

   $ source /opt/ros/%YOUR_ROS_DISTRO%/setup.bash

2. Catkin_make

  $ cd ~/catkin_ws
  $ catkin_make -DCMAKE_BUILD_TYPE=Release 

For more advanced uses of catkin_make see the documentation: catkin/commands/catkin_make

To add the workspace to your ROS environment you need to source the generated setup file:

  $ . ~/catkin_ws/devel/setup.bash

3. Rebuilding a Single catkin Package

If you update a single package in your catkin workspace and want to re-build just that package, use the following variation of catkin_make:

   $ cd ~/catkin_ws
   $ catkin_make --pkg <package_name>

=== 5. Use ROS Package (catkin) ===

Here we also offere a simple launch file that interfaces to two microcontrollers using two serial connections, put the code into
  "~/catkin_ws/src/<package_name>/launch/<launchfile_name>.launch" file:

<launch>
  <node pkg="r2SerialDriver" type="r2SerialDriver" name="r2Serial0" args="0 /dev/ttyUSB0 9600" output="screen" >
  <remap from="ucCommand" to="uc0Command" />
  <remap from="ucResponse" to="uc0Response" />
  </node>

  <node pkg="r2SerialDriver" type="r2SerialDriver" name="r2Serial1" args="1 /dev/ttyUSB1 9600" output="screen" >
  <remap from="ucCommand" to="uc1Command" />
  <remap from="ucResponse" to="uc1Response" />
  </node>

</launch>

Usage:

$ rosrun <package_name> <node_name> arg1 arg2 arg3 ...

or

$ roslaunch <package_name> <launchfile_name>.launch

=== 6. Delete ROS package ===

=== 6. Doing a "make clean" with catkin ===

When using the older rosmake build system, you could use the command:

      $  rosmake --target=clean

in a top level stack or package directory to remove all build objects. Unfortunately, this feature does not exist when using catkin. The only way to start with a clean slate, is to remove all build objects from all your catkin packages using the following commands:
   
    CAUTION! Do not include the src directory in the rm command below or you will lose all your personal catkin source files!

      $ cd ~/catkin_ws
      $ \rm -rf devel build install

You would then remake any packages as usual:

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

=== 7. Finally: 总结Package的基本概念 ===

1. 相对ROS的角色和地位。
2. Package文件夹至少要包含的文件：package.xml & CMakeLists.txt &
3. 拒绝嵌套
4. Packages 在catkin workspace中的文件分布结构
5. Package Contains two necessary elements:

     CMakeLists.txt
     package.xml

6. 
   

======  【总结 for Quick Reference (Python)】  ======

refer: http://wiki.ros.org/rospy_tutorials

Constuction about ROS Package:

1. Create ROS Workspace(catkin)
2. Create ROS Package (catkin)
3. Build ROS Package (catkin)
4. Delete ROS Package (catkin)
   

== 1. Create ROS Workspace (catkin)==

1. create a catkin workspace

   $ mkdir -p ~/catkin_ws/src
   $ cd ~/catkin_ws/src
   $ catkin_init_workspace

2. Make
Even though the workspace is empty (there are no packages in the 'src' folder, just a single CMakeLists.txt link) you can still "build" the workspace:

     $ cd ~/catkin_ws/
     $ catkin_make

3. Source

     $ source devel/setup.bash

4. Check:

     $ echo $ROS_PACKAGE_PATH

/home/youruser/catkin_ws/src:/opt/ros/indigo/share:/opt/ros/indigo/stacks

=== 2. Create an Empty ROS Package (catkin) ===

1. 确认你的catkin Workspace：~/catkin_ws/

     $ cd ~/catkin_ws/src

2. 创建package

     $ catkin_create_pkg <package_name> [depend1] [depend2] [depend3] ... [dependn]

     # for example :

   $ catkin_create_pkg beginner_tutorials std_msgs rospy roscpp

4. 编译catkin Workspace:

     $ cd ~/catkin_ws
     $ catkin_make

5. Source the generated setup file:

     $ . ~/catkin_ws/devel/setup.bash

=== 3. Customize ROS Package (catkin) ===

• Add / Edit the source code file in your <package>/scripts/ path
• Customize the package.xml ref this page
  
• Customize the CMakeLists.txt

1. Edit the code in ~/catkin_ws/src/<package_name>/src/

     Add source code file: SouceCode.cpp or SourceCode.py  etc.

2. Modify the CMakeFile.txt , (refer the details about CMakeLists.txt for Python:Writing a ROS Python Makefile )

     Modify the CMakeList.txt file:

$ cd ~/catkin_ws/src/<package_name>
$ gedit CMakeList.txt

     add/modify these lines as below:

=== 4. Build the ROS Package (catkin) ===

ref page: link

1. Source your environment setup file
   
2. catkin_make [make_targets] [-DCMAKE_VARIABLES=...]
   

1. Source env setup file: （Optional）

   $ source /opt/ros/%YOUR_ROS_DISTRO%/setup.bash

2. Catkin_make

  $ cd ~/catkin_ws
  $ catkin_make -DCMAKE_BUILD_TYPE=Release 

For more advanced uses of catkin_make see the documentation: catkin/commands/catkin_make

To add the workspace to your ROS environment you need to source the generated setup file:

  $ . ~/catkin_ws/devel/setup.bash

3. Rebuilding a Single catkin Package

If you update a single package in your catkin workspace and want to re-build just that package, use the following variation of catkin_make:

   $ cd ~/catkin_ws
   $ catkin_make --pkg <package_name>

=== 5. Use ROS Package (catkin) ===

Here we also offere a simple launch file that interfaces to two microcontrollers using two serial connections, put the code into
  "~/catkin_ws/src/<package_name>/launch/<launchfile_name>.launch" file:

<launch>
  <node pkg="r2SerialDriver" type="r2SerialDriver" name="r2Serial0" args="0 /dev/ttyUSB0 9600" output="screen" >
  <remap from="ucCommand" to="uc0Command" />
  <remap from="ucResponse" to="uc0Response" />
  </node>

  <node pkg="r2SerialDriver" type="r2SerialDriver" name="r2Serial1" args="1 /dev/ttyUSB1 9600" output="screen" >
  <remap from="ucCommand" to="uc1Command" />
  <remap from="ucResponse" to="uc1Response" />
  </node>

</launch>

Usage:

$ rosrun <package_name> <node_name> arg1 arg2 arg3 ...

or

$ roslaunch <package_name> <launchfile_name>.launch

=== 6. Delete ROS package ===

=== 6. Doing a "make clean" with catkin ===

When using the older rosmake build system, you could use the command:

      $  rosmake --target=clean

in a top level stack or package directory to remove all build objects. Unfortunately, this feature does not exist when using catkin. The only way to start with a clean slate, is to remove all build objects from all your catkin packages using the following commands:
   
    CAUTION! Do not include the src directory in the rm command below or you will lose all your personal catkin source files!

      $ cd ~/catkin_ws
      $ \rm -rf devel build install

You would then remake any packages as usual:

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