ROS操作备忘

基础操作 1.创建工作空间并初始化

mkdir -p custom_ws/src
cd customworkspace_ws
catkin_make

2.进入/custom_ws/src创建ros包并添加依赖

cd src
catkin_create_pkg custom_pkg roscpp rospy std_msgs

3.进入 /custom_ws/src/custom_pkg添加scripts目录并编辑Python文件

cd custom_pkg
mkdir scripts

4.在/custom_ws/src/custom_pkg/scripts下编写Python文件file1.py、file2.py 5.为Python文件添加可执行权限

chmod +x file1.py
chmod +x file2.py

6.编辑/custom_ws/src/custom_pkg下的 CamkeList.txt文件

catkin_install_python(PROGRAMS
	scripts/file1.py
	scripts/file2.py
	DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

7.进入/custom_ws目录并编译

cd custom_ws
catkin_make

8.执行ROS

#命令行窗口1
roscore

#命令行窗口2
cd custom_ws
source ./devel/setup.bash
rosrun custom_pkg file1.py

#命令行窗口3
cd custom_ws
source ./devel/setup.bash
rosrun custom_pkg file2.py