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v-i-s-h/ROS.md

Created May 23, 2017 09:56
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ROS Workflow cheatsheet
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ROS.md
  1. Create 'ws' 'ws/src'
  2. Goto 'ws/src' and 'catkin_init_workspace'
  3. Back to 'ws' and 'catkin_make'
  4. 'source devel/setup.sh'
  5. Goto 'ws/src' and 'catkin_create_pkg beginner_tutorials std_msgs rospy roscpp | catkin create pkg beginner_tutorials --catkin-deps roscpp rospy std_msgs
  6. Edit package.xml if necessary
  7. Come to 'ws' and 'catkin_make' Writing Code:
  8. Goto 'ws/src/<package_name>/src' and create '<node_name.cpp>' Editing Package
  9. find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs genmsg)
  10. add_message_files(DIRECTORY msg FILES Num.msg)
  11. add_service_files(DIRECTORY srv FILES AddTwoInts.srv)
  12. generate_messages(DEPENDENCIES std_msgs)
  13. catkin_package()
  14. include_directories(include ${catkin_INCLUDE_DIRS})
  15. add_executable(talker src/talker.cpp)
  16. target_link_libraries(talker ${catkin_LIBRARIES})
  17. add_dependencies(talker beginner_tutorials_generate_messages_cpp) Build Package
  18. Goto 'ws' & catkin build
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