Helloword routine for ROS

ROS Of helloword routine

ROS The general flow of the program implementation in is as follows ：

1. First create a workspace ;
2. Create another function package ;
3. Edit source file ;
4. Edit profile ;
5. Compile and execute .

Create a workspace ：

Create a new folder to represent the workspace , for example workspace01：

mkdir -p workspace01/src

cd workspace01

catkin_make

Create a folder workspace01, And create subfolders src Used to store source files , call catkin_make command , Compile the initial workspace , Generate directories for the workspace .

Create a toolkit ：

cd src

catkin_create_pkg workspace01 roscpp rospy std_msgs

Get into workspace01/src Next , Use catkin_create_pkg Command generation toolkit . This command A function package will be generated in the workspace , The Feature Pack depends on roscpp、rospy And std_msgs, among roscpp It's using C++ Implementation of the library , and rospy Is the use python Implementation of the library ,std_msgs It's a standard message library , establish ROS Function pack time , Generally, we will rely on these three libraries to realize .

Edit source file ：

cd workspace01/src/helloworld/src

vim helloworld_c.cpp

Edit code ：

#include "ros/ros.h"

int main(int argc, char *argv[])

{

    // perform ros Node initialization

    ros::init(argc,argv,"hello");

    // establish ros inode handle ( Not necessary )

    ros::NodeHandle n;

    // Console output hello world

    ROS_INFO("hello world!");

    return 0;

}

edit ros Under bag Cmakelist.txt file ：

cd workspace01/src/helloworld

vim Cmakelist.txt

find add_executable Location ：

add_executable( step 3 The source file name of

  src/ step 3 The source file name of .cpp

)

add_executable(hello src/helloworld_c.cpp)

The first parameter is the name of the target to be generated , The second is the source file path ;

target_link_libraries( step 3 The source file name of

  ${catkin_LIBRARIES}

)

target_link_libraries(hello

   ${catkin_LIBRARIES}

 )

The first parameter is changed to the target name .

Enter the workspace directory and compile ：

cd workspace01

catkin_make

Execute compile command , Generate target file .

Execute the generated object file ：

Start command terminal 1, Input ros Core startup command ：

roscore

Start command terminal 2, Start the environment variable , Then start the node program ：

cd workspace01

source ./devel/setup.bash

rosrun helloworld hello