ROS_workspace and function packages

Use yolov5 to create a function package under ros

1. Workspace

1. Create a workspace

mkdir -p ~/wheeltec/src

cd ~/wheeltec/src

#初始化工作空间

catkin_init_workspace

2. Compile the workspace

cd ..

#编译工作空间

catkin_make

3. Set environment variables

source devel/setup.bash #添加环境变量

cd ~

nano .bashrc

The above is nano and the following can be used gedit

gedit ~/.bashrc

source ~/devel/setup.bash

source .bashrc

echo $ROS_PACKAGE_PATH

#View the environment variables of ROS

2. Function package

1. The function package is under src: the folder where user function codes are stored

2. The content of the function package

include: .h file src: .cpp file

launch: launch file urdf: .urdf file

config: parameter file, yaml, srv, msg, action

build、src、devel

scripts: executable script files (Python)

CMakeLists.txt: Defines the rules for compilation

package.xml: defines the properties of the package

3. Create a feature package

catkin_create_pkg <package_name> [depend1] [depend2] [depend3]

like:

catkin_create_pkg new_package std_msgs rospy roscpp

4. Compile the single-function package:

catkin_make -DCATKIN_WHITELIST_PACKAGES="package_name"

Custom compilation thread:

catkin_make -j -l

Reference: YOLOV5_ROS compilation steps

Reference: Use yolov5(2) in ros