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先建workspace $ mkdir -p ~/catkin_ws/src $ cd ~/catkin_ws/src $ catkin_init_workspace $ cd ~/catkin_ws/ $ catkin_make 生成workspace里build和devel文件夹以及一些.bash文件，接下来source setup.bash文件 $ source devel/setup.bash 用这个检查看看 $ echo $ROS_PACKAGE_PATH /home/youruser/catkin_ws/src:/opt/ros/kinetic/share:/opt/ros/kinetic/stacks %常用指令：find，roscd，rosls $ rospack find [package_name] $ rosstack find [stack_name] $ roscd [locationname[/subdir]] 最简单的package my_package/ CMakeLists.txt package.xml workspace like this： 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 创建package，必须先创建worspace # You should have created this in the Creating a Workspace Tutorial $ cd ~/catkin_ws/src 创建beginner_tutorials package，以及依赖std_msgs, roscpp, rospy $ catkin_create_pkg beginner_tutorials std_msgs rospy roscpp $ rospack depends1 beginner_tutorials －－－－package第一层依赖项查询 就是catkin_create_pkg时的几个depend $ rospack depends1 rospy －－－－package依赖项rospy的第一层依赖项查询 $ rospack depends beginner_tutorials －－－package所有依赖项查询 编译package # In a catkin workspace $ catkin_make [make_targets] [-DCMAKE_VARIABLES=...] Taps： # In a CMake project $ mkdir build $ cd build $ cmake .. $ make $ make install # (optionally) # In a catkin workspace $ catkin_make $ catkin_make install # (optionally) 如果code在另一个地方，例如有my_src这个地址 # In a catkin workspace $ catkin_make --source my_src $ catkin_make install --source my_src # (optionally） 编译是在catkin_ws目录下 编译完之后会产生下面三个文件夹 $ ls build devel src |
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