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1、创建过程
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src/
catkin_init_workspace
2、编译空间
cd ~/catkin_ws/
catkin_make
3、使环境变量生效
source devel/setup.bash
4、确保环境变量生效
echo $ROS_PACKAGE_PATH
#输出:/home/luda/catkin_ws/src:/opt/ros/kinetic/share
注意:
在终端使用source命令设置的环境变量只能在当前终端中生效,如果希望环境变量在所以终端中有效,则需要在终端的配置文件中加入环境变量的设置
echo "source /WORKSPACE/devel/setup.bash" >>~/.bashrc
#将WORKSPACE替换成你自己的工作空间路径
#例如我的:echo "source /home/luda/catkin_ws/devel/setup.bash" >>~/.bashrc
5、创建功能包
cd ~/catkin_ws/src
catkin_create_pkg learning_communication std_msgs rospy roscpp
6、编译及设置环境变量
cd ~/catkin_ws
catkin_make
source ~/catkin_ws/devel/setup.bash