catkin_ws
创建工作空间
mkdir catkin_ws cd catkin_ws mkdir src catkin_init_workspace编译工作空间
cd .. catkin_make设置环境变量
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc source ~/.bashrc
看环境变量
echo $ROS_PACKAGE_PATH功能包
![在这里插入图
功能包内容include: .h文件
src: .cpp文件
launch: launch文件
urdf : .urdf文件
config: 参数文件，yaml，srv，msg，action
scripts: 可执行脚本文件（Python)
CMakeLists.txt : 定义编译的规则
package.xml : 定义package的属性
功能包要在工作空间的src中创建
cd ~/catkin_ws/src catkin_create_pkg[depend1] [depend2] [depend3]
package_name:功能包名字
depend：功能包依赖
例子
catkin_create_pkg new_package std_msgs rospy roscpp编译功能包
cd ~/catkin_ws catkin_make source ~/catkin_ws/devel/setup.bash
