ROS的工作空间创建
scc18@ubuntu:~$ mkdir ros_ws scc18@ubuntu:~$ cd ros_ws/ scc18@ubuntu:~/ros_ws$ mkdir src scc18@ubuntu:~/ros_ws$ cd src scc18@ubuntu:~/ros_ws/src$ catkin_init_workspace Creating symlink "/home/scc18/ros_ws/src/CMakeLists.txt" pointing to "/opt/ros/melodic/share/catkin/cmake/toplevel.cmake" scc18@ubuntu:~/ros_ws/src$ cd .. scc18@ubuntu:~/ros_ws$ catkin_make Base path: /home/scc18/ros_ws Source space: /home/scc18/ros_ws/src Build space: /home/scc18/ros_ws/build Devel space: /home/scc18/ros_ws/devel Install space: /home/scc18/ros_ws/install #### #### Running command: "cmake /home/scc18/ros_ws/src -DCATKIN_DEVEL_PREFIX=/home/scc18/ros_ws/devel -DCMAKE_INSTALL_PREFIX=/home/scc18/ros_ws/install -G Unix Makefiles" in "/home/scc18/ros_ws/build" #### -- The C compiler identification is GNU 7.5.0 -- The CXX compiler identification is GNU 7.5.0 -- Check for working C compiler: /usr/bin/cc -- Check for working C compiler: /usr/bin/cc -- works -- Detecting C compiler ABI info -- Detecting C compiler ABI info - done -- Detecting C compile features -- Detecting C compile features - done -- Check for working CXX compiler: /usr/bin/c++ -- Check for working CXX compiler: /usr/bin/c++ -- works -- Detecting CXX compiler ABI info -- Detecting CXX compiler ABI info - done -- Detecting CXX compile features -- Detecting CXX compile features - done -- Using CATKIN_DEVEL_PREFIX: /home/scc18/ros_ws/devel -- Using CMAKE_PREFIX_PATH: /opt/ros/melodic -- This workspace overlays: /opt/ros/melodic -- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.17", minimum required is "2") -- Using PYTHON_EXECUTABLE: /usr/bin/python2 -- Using Debian Python package layout -- Using empy: /usr/bin/empy -- Using CATKIN_ENABLE_TESTING: ON -- Call enable_testing() -- Using CATKIN_TEST_RESULTS_DIR: /home/scc18/ros_ws/build/test_results -- Found gtest sources under '/usr/src/googletest': gtests will be built -- Found gmock sources under '/usr/src/googletest': gmock will be built -- Found PythonInterp: /usr/bin/python2 (found version "2.7.17") -- Looking for pthread.h -- Looking for pthread.h - found -- Looking for pthread_create -- Looking for pthread_create - not found -- Looking for pthread_create in pthreads -- Looking for pthread_create in pthreads - not found -- Looking for pthread_create in pthread -- Looking for pthread_create in pthread - found -- Found Threads: TRUE -- Using Python nosetests: /usr/bin/nosetests-2.7 -- catkin 0.7.29 -- BUILD_SHARED_LIBS is on -- BUILD_SHARED_LIBS is on -- Configuring done -- Generating done -- Build files have been written to: /home/scc18/ros_ws/build #### #### Running command: "make -j2 -l2" in "/home/scc18/ros_ws/build" #### scc18@ubuntu:~/ros_ws$ catkin_make install Base path: /home/scc18/ros_ws Source space: /home/scc18/ros_ws/src Build space: /home/scc18/ros_ws/build Devel space: /home/scc18/ros_ws/devel Install space: /home/scc18/ros_ws/install #### #### Running command: "make cmake_check_build_system" in "/home/scc18/ros_ws/build" #### #### #### Running command: "make install -j2 -l2" in "/home/scc18/ros_ws/build" #### Install the project... -- Install configuration: "" -- Installing: /home/scc18/ros_ws/install/_setup_util.py -- Installing: /home/scc18/ros_ws/install/env.sh -- Installing: /home/scc18/ros_ws/install/setup.bash -- Installing: /home/scc18/ros_ws/install/local_setup.bash -- Installing: /home/scc18/ros_ws/install/setup.sh -- Installing: /home/scc18/ros_ws/install/local_setup.sh -- Installing: /home/scc18/ros_ws/install/setup.zsh -- Installing: /home/scc18/ros_ws/install/local_setup.zsh -- Installing: /home/scc18/ros_ws/install/.rosinstall scc18@ubuntu:~/ros_ws$ source devel/setup.bash scc18@ubuntu:~/ros_ws$ cd src scc18@ubuntu:~/ros_ws/src$ catkin_create_pkg test std_msgs rospy roscpp Created file test/CMakeLists.txt Created file test/package.xml Created folder test/include/test Created folder test/src Successfully created files in /home/scc18/ros_ws/src/test. Please adjust the values in package.xml. scc18@ubuntu:~/ros_ws/src$ ls CMakeLists.txt test scc18@ubuntu:~/ros_ws/src$ cd test/ scc18@ubuntu:~/ros_ws/src/test$ ls CMakeLists.txt include package.xml src scc18@ubuntu:~/ros_ws/src/test$ cd .. scc18@ubuntu:~/ros_ws/src$ cd .. scc18@ubuntu:~/ros_ws$ catkin_make Base path: /home/scc18/ros_ws Source space: /home/scc18/ros_ws/src Build space: /home/scc18/ros_ws/build Devel space: /home/scc18/ros_ws/devel Install space: /home/scc18/ros_ws/install #### #### Running command: "cmake /home/scc18/ros_ws/src -DCATKIN_DEVEL_PREFIX=/home/scc18/ros_ws/devel -DCMAKE_INSTALL_PREFIX=/home/scc18/ros_ws/install -G Unix Makefiles" in "/home/scc18/ros_ws/build" #### -- Using CATKIN_DEVEL_PREFIX: /home/scc18/ros_ws/devel -- Using CMAKE_PREFIX_PATH: /home/scc18/ros_ws/devel;/opt/ros/melodic -- This workspace overlays: /home/scc18/ros_ws/devel;/opt/ros/melodic -- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.17", minimum required is "2") -- Using PYTHON_EXECUTABLE: /usr/bin/python2 -- Using Debian Python package layout -- Using empy: /usr/bin/empy -- Using CATKIN_ENABLE_TESTING: ON -- Call enable_testing() -- Using CATKIN_TEST_RESULTS_DIR: /home/scc18/ros_ws/build/test_results -- Found gtest sources under '/usr/src/googletest': gtests will be built -- Found gmock sources under '/usr/src/googletest': gmock will be built -- Found PythonInterp: /usr/bin/python2 (found version "2.7.17") -- Using Python nosetests: /usr/bin/nosetests-2.7 -- catkin 0.7.29 -- BUILD_SHARED_LIBS is on -- BUILD_SHARED_LIBS is on -- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -- ~~ traversing 1 packages in topological order: -- ~~ - test -- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -- +++ processing catkin package: 'test' -- ==> add_subdirectory(test) -- Configuring done -- Generating done -- Build files have been written to: /home/scc18/ros_ws/build #### #### Running command: "make -j2 -l2" in "/home/scc18/ros_ws/build" #### scc18@ubuntu:~/ros_ws$ catkin_make install Base path: /home/scc18/ros_ws Source space: /home/scc18/ros_ws/src Build space: /home/scc18/ros_ws/build Devel space: /home/scc18/ros_ws/devel Install space: /home/scc18/ros_ws/install #### #### Running command: "make cmake_check_build_system" in "/home/scc18/ros_ws/build" #### #### #### Running command: "make install -j2 -l2" in "/home/scc18/ros_ws/build" #### Install the project... -- Install configuration: "" -- Installing: /home/scc18/ros_ws/install/_setup_util.py -- Up-to-date: /home/scc18/ros_ws/install/env.sh -- Up-to-date: /home/scc18/ros_ws/install/setup.bash -- Up-to-date: /home/scc18/ros_ws/install/local_setup.bash -- Up-to-date: /home/scc18/ros_ws/install/setup.sh -- Up-to-date: /home/scc18/ros_ws/install/local_setup.sh -- Up-to-date: /home/scc18/ros_ws/install/setup.zsh -- Up-to-date: /home/scc18/ros_ws/install/local_setup.zsh -- Up-to-date: /home/scc18/ros_ws/install/.rosinstall -- Installing: /home/scc18/ros_ws/install/lib/pkgconfig/test.pc -- Installing: /home/scc18/ros_ws/install/share/test/cmake/testConfig.cmake -- Installing: /home/scc18/ros_ws/install/share/test/cmake/testConfig-version.cmake -- Installing: /home/scc18/ros_ws/install/share/test/package.xml
简单理解
mkdir filename/src
这句话就是在创建一个简单的文件夹，目前在创建之后，并没有任何的意义，但是如果我们进行rosinit的操作之后就会变成一个工作空间。
catkin_init_workspace
这句话必须要在src文件目录下使用，这样会将src下改变成为一个工作空间。
catkin_make
这句话要求在ros的根目录，也就是我们创建的filename那个文件夹。（具体叫啥名自己看着办）。这样就是一个编译，其实意思跟我们的C++的编译类似。但是我们现在编译没有啥用处，就是编译了一个空项目。
catkin_make install
这句话会生成一个install文件夹，但是也没啥用，以后会有的。现在就是先试试，看看文件有啥问题没。
catkin_create_pkg
catkin_create_pkg test std_msgs rospy roscpp 一般来说的话就是这么去写，但是其实这句话的真正含义是，创建一个pkg，叫做test，然后倒入ros基本的信息发布包，以及python包和C++包。
source devel/setup.bash
这句话就是设置一下环境变量。要注意的是devel是在我们filename的文件夹下面的。
结尾
这就是ROS创建一个工作空间的简单操作，我觉得没什么难度，只要好好多练习，这些都属于基本功。用完删除，再创建一个也无妨。
