Document Creation Date: March 27, 2023

This document records the process of creating a ROS function package, adding nodes and running

By RobotFreak

Create workspace and initialize

mkdir -p 自定义空间名称/src
cd 自定义空间名称
catkin_make

The src directory must be created in the workspace before catkin_make, otherwise catkin_make will report an error and fail to compile.

Enter src to create ros package and add dependencies

cd src
catkin_create_pkg 自定义ROS包名 roscpp rospy std_msgs

The above command will generate a function package in the workspace, which depends on roscpp, rospy and std_msgs, where roscpp is a library implemented in C++, rospy is a library implemented in python, and std_msgs is a standard message library. Create ROS function packages generally rely on these three libraries for implementation.

Add the scrpts directory in the function package and edit the python file

cd ros包
mkdir scripts

Create and edit python files in the scripts directory

Add executable permissions to python files

chmod +x 自定义文件名.py

Edit the CmakeList.txt file under the ros package

catkin_install_python(PROGRAMS scripts/自定义文件名.py
  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

Enter the workspace directory and compile

cd 自定义空间名称
catkin_make

Enter the workspace directory and execute

First start the command line 1:

roscore

Start command line 2 again:

cd 工作空间
source ./devel/setup.bash
rosrun 包名 自定义文件名.py

problem solved

(SOLVED)Could NOT find PY_em(missing: PY_em)

In the anaconda vision environment, the following error occurs directly after catkin_make:

insert image description here

Refer to the following blog:
(16 messages) ROS error: -- Could NOT find PY_em (missing: PY_EM)_High Precision Computer Vision Blog-CSDN Blog

The reason is that the python in the anaconda environment is used, and this problem can be solved by using the system's python:

catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3