查看正在使用的ROS工作空间,使用命令

echo $ROS_PACKAGE_PATH

我新建了两个

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" alt="" />

以后我们要用的工作空间为

~/dev/rosbook

新建文件夹

mkdir -p dev/rosbook

将新的路径添加到ROS _PACKAGE_PATH只需在~/.bashrc文件的末尾添加新的一行

出错

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" 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等号两边不能加空格

 echo "export ROS_PACKAGE_PATH=~/dev/rosbook:${ROS_PACKAGE_PATH}" >> ~/.bashrc

查看添加

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" alt="" />

1.创建一个ROS Package

这个教程包括使用roscreate-pkg或者catkin去创建一个新的package,以及使用rospack去列出package的依赖。

2.catkin Package由什么组成

一个package被认为是catkin packages必须满足这些要求:

a.必须包含一个catkin compliant(编译) package.xml文件(提供关于package的元信息);

b.必须包含一个使用catkin的CMakeLists.txt文件。Catkin metapackages(元package)必须有一个CMakeLists.txt样本文件;

c.在一个文件夹中不允许有超过两个的package(这就着意味着没有其他packages共享这个目录)。

这个简单的package可能像这个样子:

my_package/

CMakeLists.txt

package.xml

3.catkin工作空间中的Packages

推荐使用catkin packages 的方式是使用catkin工作空间,但是你也可以单独使用catkin建立packages。一般的工作空间看起来像这样:

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

4、创建一个catkin package

这里将会用catkin_create_pkg脚本去创建一个新的catkin package。

首先去到你之前创建的工作空间目录:

$ cd ~/catkin_ws/src

用catkin_create_pkg 脚本创建一个做'beginner_tutorials'新package,它依赖于std_msgs,roscpp,和roscpy。

命令:

catkin_create_pkg beginner_tutorials std_msgs rospy roscpp

现在创建了一个 beginner_tutorials文件夹,包含有package.xml , CMakeLists.txt文件,其中部分填写了由你提供给catkin_create_pkg的信息。

catkin_create_pkg要求你提供一个package的名字和它所需要的依赖。

catkin_create_pkg在catkin/commands/catkin_create_pkg.中有对更加高级功能的描叙。

5.建立一个catkin工作空间并且启用setup 文件

现在需要在catkin工作空间编译package。

$ cd ~/catkin_ws

$ catkin_make

执行该命令后会在devel文件夹下生成一个和在/opt/ros/$ROSDISTRO_NAME(ROS版本名这里是/opt/ros/indigo)下相似的结构。

为把工作空间添加到ROS环境变量你需要执行:

$ source ~/catkin_ws/devel/setup.bash

(使setup文件生效)

6.package 的依赖

6.1第一层依赖

catkin_create_pkg时,一些package提供了依赖。这些第一层依赖可以通过rospack工具重现。

$ rospack depends1 beginner_tutorials

输出:

std_msgs

rospy

roscpp

列出了运行catkin_create_pkg命令时的一些依赖,这些依赖储存在package.xml文件中。

$ roscd beginner_tutorials

$ cat package.xml

输出:

<package>

...

<buildtool_depend>catkin</buildtool_depend>

<build_depend>roscpp</build_depend>

<build_depend>rospy</build_depend>

<build_depend>std_msgs</build_depend>

...

</package>

6.2间接依赖

许多情况下,依赖也有它的依赖。

比如:

$ rospack depends1 rospy

输出

genpy

rosgraph

rosgraph_msgs

roslib

std_msgs

rospack可以显示所有递归的嵌套依赖。

$ rospack depends beginner_tutorials

cpp_common

rostime

roscpp_traits

roscpp_serialization

genmsg

genpy

message_runtime

rosconsole

std_msgs

rosgraph_msgs

xmlrpcpp

roscpp

rosgraph

catkin

rospack

roslib

rospy

7.定制你的package

这部分将教你怎样定制自己的package。

7.1定制package.xml

package.xml包含在package中。

7.1.1描叙标签

首先更新描叙标签

可以根据你的爱好改变description,但是最好短一些并且能够概括package

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

8   <!-- Example:  -->

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

10   <maintainer email="user@todo.todo">user</maintainer>

7.1.2维护者标签

这个非常重要因为他可以让其他人知道和谁去交流这个package,这个维护者的名字会作为标签,邮箱也应该填写:

7   <maintainer email="you@yourdomain.tld">Your Name</maintainer>

7.1.协议标签

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

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

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

15   <license>TODO</license>

选择一个协议填写。

8   <license>BSD</license>

通常用的一些协议是BSD,MIT,Boost Software License, GPLv2, GPLv3, LGPLv2.1, and LGPLv3。可以在这里读到一些其他的开源协议。(http://opensource.org/licenses/alphabetical)。这里作为新手教程,我们选择BSD协议,因为ROS的其他核心部分已经遵从BSD协议了。

7.1.4依赖标签

一系列标签描叙依赖。这些依赖被分为build_depend, buildtool_depend, run_depend, test_depend。

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

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

29   <!-- Examples: -->

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

31   <!--   <build_depend>genmsg</build_depend> -->

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

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

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

35   <!--   <run_depend>python-yaml</run_depend> -->

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

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

38   <buildtool_depend>catkin</buildtool_depend>

39   <build_depend>roscpp</build_depend>

40   <build_depend>rospy</build_depend>

41   <build_depend>std_msgs</build_depend>

所有列出来的都是build_depend,除了之外,我们需要指定的所有依赖在build和run time时都是可用的,我们需要增加run_depend标签在每个依赖后面。

12   <buildtool_depend>catkin</buildtool_depend>

13

14   <build_depend>roscpp</build_depend>

15   <build_depend>rospy</build_depend>

16   <build_depend>std_msgs</build_depend>

17

18   <run_depend>roscpp</run_depend>

19   <run_depend>rospy</run_depend>

20   <run_depend>std_msgs</run_depend>

7.1.5最终的package.xml

1 <?xml version="1.0"?>

2 <package>

3   <name>beginner_tutorials</name>

4   <version>0.1.0</version>

5   <description>The beginner_tutorials package</description>

6

7   <maintainer email="you@yourdomain.tld">Your Name</maintainer>

8   <license>BSD</license>

9   <url type="website">http://wiki.ros.org/beginner_tutorials</url>

10   <author email="you@yourdomain.tld">Jane Doe</author>

11

12   <buildtool_depend>catkin</buildtool_depend>

13

14   <build_depend>roscpp</build_depend>

15   <build_depend>rospy</build_depend>

16   <build_depend>std_msgs</build_depend>

17

18   <run_depend>roscpp</run_depend>

19   <run_depend>rospy</run_depend>

20   <run_depend>std_msgs</run_depend>

21

22 </package>

7.2定制CMakeLists.txt

含有元信息的package.xml文件已经为你的package裁剪好了,接下来的教程将会讨论CMakeLists.txt文件。由catkin_create_pkg创建的CMakeLists.txt文件将会在下面的关于编译代码的教程中涉及.

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