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  • ROS学习笔记(一)

    运行ROS例程(turtlesim)
    1)安装turtlesim包
    sudo apt-get install ros-kinetic-turtlesim
    2)运行管理器节点
    roscore
    3)运行turtlesim仿真器节点
    rosrun turtlesim turtlesim_node
    4)运行键盘控制节点
    rosrun turtlesim turtle_teleop_key

    =================================================

    创建工作空间
    mkdir -p ~/catkin_ws/src
    cd ~/catkin_ws
    catkin_init_workspace

    cd ~/catkin_ws
    catkin_make  //编译后目录会自动生成build和devel文件夹

    source devel/setup.bash
    echo $ROS_PACKAGE_PATH

    //使变量终身生效方式
    echo "source/WORKSPACE/devel/setup.sh" >> ~/.bashrc

    ===================================================

    创建功能包
    catkin_create_pkg <package_name> [depend1] [depend2] [depend3]
    eg:
    cd ~/catkin_ws/src
    catkin_create_pkg learning_communication std_msgs rospy roscpp
    cd ~/catkin_ws
    catkin_make
    source ~/catkin_ws/devel/setup.sh

    =====================================================

    查看ROS相关环境变量
    env | grep ros

    =====================================================

    查看节点关系
    rqt_graph

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  • 原文地址:https://www.cnblogs.com/rohens-hbg/p/10797337.html
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