mkdir -p ~/catkin_ws/src 建立父子两个文件夹 ~表示home
cd catkin_ws/src/
liur@liur:~/catkin_ws/src$ catkin_init_workspace 创建了CMakeLists.txt
liur@liur:~/catkin_ws/src$ cd ..
liur@liur:~/catkin_ws$ catkin_make 一定在工作空间根目录编译
liur@liur:~/catkin_ws$ source devel/setup.bash 仅在当前终端有效(设置环境变量)
liur@liur:~/catkin_ws$ gedit ~/.bashrc 1
liur@liur:~/catkin_ws$ vim ~/.bashrc 2 1,2效果一样 ,添加source ~/catkin_ws/devel/setup.bash后保存退出,运行source ~/.bashrc,使环境变量生效
liur@liur:~/catkin_ws$ vi ~/.bashrc 不好用
liur@liur:~/catkin_ws$ echo $ROS_PACKAGE_PATH
/home/liur/catkin_ws/src:/opt/ros/kinetic/share 查看环境变量
liur@liur:~/catkin_ws$ cd src
liur@liur:~/catkin_ws/src$ catkin_create_pkg learning_communication std_msgs rospy roscpp 创建功能包,然后需要在工作空间根目录下编译catkin_make
env | grep ros