创建ros软件包

ROS

1. 最简单的包看起来是这样子的

my_package/
  CMakeLists.txt
  package.xml

2. 典型工作目录下的结构

workspace_folder/        -- 工作目录
  src/                   -- 源码目录
    CMakeLists.txt       -- 顶层CMake file, 由catkin自动生成
    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        -- Package manifest for package_n

3. 用catkin工具新建一个软件包

$ cd ~/catkin_ws/src
然后新建一个beginner_tutorials的软件包，依赖于std_msgs, roscpp, and rospy
$ catkin_create_pkg beginner_tutorials std_msgs rospy roscpp
输出

Created file beginner_tutorials/CMakeLists.txt
Created file beginner_tutorials/package.xml
Created folder beginner_tutorials/include/beginner_tutorials
Created folder beginner_tutorials/src
Successfully created files in /home/ferstar/catkin_ws/src/beginner_tutorials. Please adjust the values in package.xml.

3.1 所以，新建软件包的规则是 包名+依赖

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

4 编译工作空间并导出到环境变量

$ cd ~/catkin_ws
$ catkin_make
输出

Base path: /home/ferstar/catkin_ws
Source space: /home/ferstar/catkin_ws/src
Build space: /home/ferstar/catkin_ws/build
Devel space: /home/ferstar/catkin_ws/devel
Install space: /home/ferstar/catkin_ws/install
......

导出软件包路径到环境变量
$ . ~/catkin_ws/devel/setup.zsh
输出 无

5. 软件包依赖

5.1 列出初始依赖

rospack depends1 beginner_tutorials
输出
std_msgs
rospy
roscpp
所有依赖关系都存储在package.xml文件中

$ roscd beginner_tutorials
$ cat package.xml

...
catkin
roscpp
rospy
std_msgs
...

tab补全时如果发现如下权限不够的提示：
error while crawling /home/ferstar: boost::filesystem::status: Permission denied: "/home/ferstar/.gvfs
直接干掉这个目录
sudo umount ~/.gvfs
sudo rm -rf .gvfs
输出无

5.2 关联依赖

顾名思义，就是依赖的包还有依赖。。。囧rz
比如rospack depends1 rospy
输出

genpy
roscpp
rosgraph
rosgraph_msgs
roslib
std_msgs

这个略烦，好在ros有自己的办法列出所有依赖关系
rospack depends beginner_tutorials
输出同wiki

6. 自定义软件包

6.1 自定义package.xml

默认catkin_create_pkg工具已经自动建立该文件，照猫画虎即可，可以修改的信息有，描述，标签，许可，依赖等等

6.2 自定义CMakeLists.txt

也是自动生成，用以指导编译程序如何编译安装软件包