【ROS】package包创建&编译

• ref: http://wiki.ros.org/ROS/Tutorials
  

Package组成

• package.xml: 提供包的信息(版本, 维护者…)
• CMakeLists.txt: CMake system的输入, 以编译软件包, 描述如何构建代码,从何处安装
• 每个package带自己的文件夹: 不嵌套, 不共享

文件结构

• workspace_folder/
  • src
    • CMakeLists.txt
    • package_1/
      • CMakeLists.txt
      • package.xml
        …
    • package_n/
      • CMakeLists.txt
      • package.xml

创建Package

• catkin_create_pkg <package_name> [depend1] [depend2] [depend3]
• 忘记添加依赖包

# 移动到source space
cd ~/catkin_ws/src  
# 用catkin_create_pkg脚本新建包, 依赖std_msgs,roscpp,rospy
catkin_create_pkg beginner_tutorials std_msgs rospy roscpp
# 编译
cd ~/catkin_ws
catkin_make
# 添加workspace到ROS环境
. ~/catkin_ws/devel/setup.bash

• rospack: 查看依赖项
  • rospack depends1 beginner 直接依赖项
  • rospack depends beginner 间接依赖项

编译Packages

source /opt/ros/melodic/setup.bash
catkin_make # 编译任何src中的工程
catkin_make install # 选择编译
catkin_make --source my_src # 不在默认src
catkin_make install --source my_src