Getting Started 21 Ku ranking ROS stress study notes (9-16 Programming Fundamentals course) (continually updated)

Create a workspace lesson Feature Pack Lesson 9

Workspace

src: code space. xml file
build: Compile space, basically do not care about
devel: development of space,
install: the installation space

1. Create a workspace
   mkdir -p ~ / catkin_ws / src
   cd ~ / catkin_ws / src
   catkin_init_workspace

2. Compiler workspace
   cd ~ / catkin_ws /
   catkin_make (devel generate and build folders)
   catkin_make install (produce install folder)

3. Set the environment variable
   source devel / setup.bash

4. Check the environment variable
   echo $ ROS_PACKAGE_PATH

Creating Feature Pack

catkin_creat_pkg (function package name) [1] [dependency dependent dependent 3] [2]

1. Creating Feature Pack
   cd ~ / catkin_ws / src
   catkin_create_pkg test_pkg std_msgs rospy roscpp

2. Compilation package
   CD ~ / catkin_ws
   catkin_make
   Source ~ / catkin_ws / devel / setup.bash

Under the same workspace, not allowed to have the same name as the function package, under different workspaces can have.

Lesson Ten publisher Publisher's programming

Creating Feature Pack

cd ~/catkin_ws/src
catkin_create_pkg learning_topic roscpp std_msgs geometry_msgs turtlesim

c ++ realize

1. Write a program

References in the velocity_publisher.cpp file.

2. At the end of the file plus CMakelist.txt

add_executable(velocity_publisher src/velocity_publisher.cpp)
target_link_libraries(velocity_publisher ${catkin_LIBRARIES})

3. Compile and run

~ CD / catkin_ws
catkin_make
Source devel / setup.bash
newly opened terminal roscore
new terminal rosrun turtlesim turtlesim_node opened
to open the terminal rosrun learning_topic velocity_publisher

python achieve

Look courseware Code

Lesson Eleven subscribers Subscriber's programming