ROS-3: Catkin working space and Ros Function pack

First, create a catkin work space Step One: Build a Catkin workspaceafter installing the ROS version, set the environment variable: $ source/opt/ros/kinetic/setup.bash. You can then create a Catkin workspace.

mkdir -P~/catkin_ws/~/catkin_ws/~/catkin_ws/$ catkin_make

that is, the steps to create a Catkin workspace on the terminal command line are:

1. Create the folder where the Catkin workspace is located, as on the/CATKIN_WS;
2. In the workspace folder that you created, create a subfolder/src;
3. Under sub-folder SRC, initialize a new Catkin workspace;
4. Returns the root directory of the Catkin workspace, which is under CATKIN_WS;
5. Use the Catkin_make command to complete the construction of the Catkin workspace.

The first time you run the Catkin_make command, a CMakeLists.txt file is created under the SRC folder, and two sub-folders build and Devel are created under the root directory, such as. Step Two: Configure environment variablesNext, you need to configure the Global environment variable and the installation path for the Catkin workspace to run on the terminal command line:

$ source ~/catkin_ws/devel/setup.bash

each time you reopen a new terminal shell, you need to run the above command. To do this you must add the command script to the ~/.BASHRC file so that each time you open SHELL,.BASHRC it will run automatically, using the following command:

Echo " Source ~/catkin_ws/devel/setup.bash " >>  ~/~/.BASHRC

at this point, complete the creation of the Catkin workspace, with the following brief steps:

1. Create a Catkin workspace directory, such as/CATKIN_WS/SRC;
2. In the SRC directory, use Catkin_init_workspace to initialize a Catkin workspace;
3. Under the Catkin workspace root directory, use Catkin_make to build;
4. Configure environment variables to start the current Catkin workspace.

  Second, create a Ros function pack Step One: Create a Ros Feature PackThe Ros Feature Pack must be located in the Catkin workspace, so you must create a good one Catkin workspace before you can create the Ros Feature Pack. Under the SRC directory of the Catkin workspace directory, use the CATKIN_CREATE_PKG command to create a Ros Feature Pack. The syntax for catkin_create_pkg is as follows:

$ catkin_create_pkg <package_name> [DEPEND1] [Depend2] [Depend3]

where [Depend1], [Depend2], [Depend3] is the specific software Feature pack that is required to create the Software Feature Pack, which is generally referred to as a dependency package. Step Two: Build the Ros function packthen build the empty Software Feature Pack to use the Catkin_make command in the root directory of the Catkin workspace. To complete the creation of the Ros Feature Pack, proceed as follows:

1. Use the catkin_create_pkg command to create a feature pack in the SRC directory of the Catkin workspace;
2. Use the Catkin_make command to complete the build in the root directory of the Catkin workspace.

ROS-3: Catkin workspace and ROS Feature Pack