创建工作空间 (home目录下)
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
创建功能包
catkin_create_pkg hello_ros
包内创建hello.cpp文件
cd hello_ros
vim hello.cpp
复制下方代码到hello.cpp
#include <ros/ros.h>
int main(int argc, char **argv)
{
ros::init(argc,argv,"hello");
ros::NodeHandle n;
ROS_INFO("Hello ROS!");
ros::spinOnce();
}
修改CmakeList.txt,替换以下内容
cmake_minimum_required(VERSION 2.8.3)
project(hello_ros)
find_package(catkin REQUIRED COMPONENTS
roscpp # roscpp依赖库
)
catkin_package(
)
include_directories(include ${catkin_INCLUDE_DIRS})
# 声明需要创建的可执行文件
add_executable(hello hello.cpp)
target_link_libraries(hello ${catkin_LIBRARIES})
进行编译 (catkin_ws工作目录下)
cd ~/catkin_ws
catkin_make
执行脚本文件
source devel/setup.bash
运行节点
rosrun hello_ros hello
结果如图:
OK.