建立功能包(ROS package)

1 常用工具

• roscreate-pkg
• catkin

2 catkin package組成

• 命名規則

  只允許使用小寫字母,數字,下劃線三種元素組成,並且首字母必須是小寫字母

• 主要組成
  • package.xml(package的meta資訊)
  • CMakeLists.txt(catkin 編譯使用檔案)
• 結構示例

  my_package/
    CMakeLists.txt
    package.xml
  

  注意: 每個package要有獨立的資料夾(package不能巢狀和公用)

3 catkin Workspace(工作空間)

catkin package可以單獨建立, 但是推薦使用工作空間

3.1 工作空間結構

workspace_folder/    	-- WORKSPACE
  src/                  -- SOURCE SPACE
    CMakeLists.txt      -- 'Toplevel' CMake file, provided by catkin
    package_1/
      CMakeLists.txt    -- CMakeLists.txt file for package_1
      package.xml       -- Package manifest for package_1
    ...
    package_n/
      CMakeLists.txt    -- CMakeLists.txt file for package_n
      package.xml  
 

3.2 工作空間建立方法

$ source /opt/ros/lunar/setup.bash
$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/
$ catkin_make
$ source devel/setup.bash
$ echo $ROS_PACKAGE_PATH

4 建立catkin package

4.1 步驟

$ cd ~/catkin_ws/src
$ catkin_create_pkg beginner_tutorials std_msgs rospy roscpp
# catkin_create_pkg <package_name> [depend1] [depend2] [depend3]
 

5 編譯catkin workspace並source

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

6 包依賴

未完待續