Workspace and function package creation process in ROS

Workspace and function package creation process in ROS

Hello there! Using the Markdown editor for the first time .

What directories does the workspace contain?

Workspace (workspace) is a folder for storing project development related files:

1. src , source space , code space;
2. build , build space , compilation space;
3. devel , development space , development space;
4. install , install space , installation space;

Create a workspace (4step)

step1- create a workspace

#在开发主机界面打开终端##
$mkdir -p ~/catkin_ws/src
$cd ~/catkin_ws/src
$catkin_init_workspace

step2- Compile workspace

$cd ~/catkin_ws/
$catkin_make

step3-Set environment variables (can be added to the .bashrc file in the home insert picture description here
)

$source devel/setup.bash

step4- check environment variables

$echo $ROS_PACKAGE_PATH

Remarks : After running the above code, there are three directories in the workspace of catkin_ws, build, source, and devel, and one install is short of

The install directory is missing.
Run the catkin_make install command in the workspace to generate the install directory.
At this point, the workspace is created

Create function package (2step)

step-1 Create a feature package

$cd ~/catkin_ws/src
$catkin_creat_pkg test_pkg std_msgs rospy roscpp

step-2 Compile the function package

$cd ~/catkin_ws
$catkin_make
$source ~/catkin_ws/devel/setup.bash

% There cannot be a function package with the same name in the same workspace! ! !
% In different workspaces, there can be a function package with the same name. So
far, the function package is created