- Create 'ws' 'ws/src'
- Goto 'ws/src' and 'catkin_init_workspace'
- Back to 'ws' and 'catkin_make'
- 'source devel/setup.sh'
- Goto 'ws/src' and 'catkin_create_pkg beginner_tutorials std_msgs rospy roscpp | catkin create pkg beginner_tutorials --catkin-deps roscpp rospy std_msgs
- Edit package.xml if necessary
- Come to 'ws' and 'catkin_make' Writing Code:
- Goto 'ws/src/<package_name>/src' and create '<node_name.cpp>' Editing Package
- find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs genmsg)
- add_message_files(DIRECTORY msg FILES Num.msg)
- add_service_files(DIRECTORY srv FILES AddTwoInts.srv)
- generate_messages(DEPENDENCIES std_msgs)
- catkin_package()
- include_directories(include ${catkin_INCLUDE_DIRS})
- add_executable(talker src/talker.cpp)
- target_link_libraries(talker ${catkin_LIBRARIES})
- add_dependencies(talker beginner_tutorials_generate_messages_cpp) Build Package
- Goto 'ws' & catkin build
Created
May 23, 2017 09:56
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