ROS--5Packages & Catkin Workspaces

悠悠 2023-06-24 04:48 17阅读 0赞

Catkin工作空间本质上是一个目录，可以在这里编写、修改并安装catkin包，通常当你开发基于ROS的机器人或项目时，你需要在单独的工作空间里完成。这个单独的空间需要保存大量不同的catkin包，所有ROS软件组件都以catkin包的形式组织并发布。

Catkin包可能包含节点的源代码，有用的脚本、配置文件等等。

--------------------

# 1.Create a Catkin Workspace #

Step 1: mkdir -p ~/catkin\_ws/src

$ mkdir -p ~/catkin_ws/src

Step 2:

$ mkdir -p ~/catkin_ws/src

Step3:

$ catkin_init_workspace

Step4:

$ cd ~/catkin_ws

Step5:

$ catkin_make

More in

[http://wiki.ros.org/catkin/conceptual\_overview][http_wiki.ros.org_catkin_conceptual_overview]

You now have two new directories: `build` and `devel`. The aptly named `build` directory is the build space for C++ packages and, for the most part, you will not interact with it. The `devel` directory does contain something of interest, a file named `setup.bash`. This setup.bash script must be sourced before using the catkin workspace.

# 2Add a package #

## step1:Cloning the simple\_arm Package ##

One of the biggest benefits of using ROS is that it has a really large community of users and developers, so there is a lot of code that you can use.

$ cd ~/catkin_ws/src
    $ git clone https://github.com/udacity/simple_arm_01.git simple_arm

## step2: Building the simple\_arm package ##

After the repo has finished cloning, you can change directory to the top-level of the ros workspace and build the new package.

$ cd ~/catkin_ws
    $ catkin_make

## step3: Launch multiple nodes ##

roslaunch allows you to do the following

*  Launch ROS Master and multiple nodes with one simple command
 *  Set default parameters on the parameter server
 *  Automatically re-spawn processes that have died

Once the workspace has been built, you can source it’s setup script:

$ source devel/setup.bash

With your workspace sourced you can now launch simple\_arm:

$ roslaunch simple_arm robot_spawn.launch

# 3.rosdep 自动检查依赖库 #

After the last exercise, you might have noticed the following warning line:

`The controller spawner couldn’t find the expected controller_manager ROS interface.`

ROS packages have two different types of dependencies: build dependencies, and run dependencies. This error message was due to a missing runtime dependency.

The `rosdep` tool will check for a package's missing dependencies, download them, and install them.

To check for missing dependencies in the `simple_arm` package:

$ rosdep check simple_arm

To have `rosdep` install packages, invoke the following command from the root of the catkin workspace

$ rosdep install -i simple_arm

Issues with this command may arise when using a VM. If this is the case, please try:

sudo apt-get install ros-kinetic-gazebo-ros-control

Dive Deeper into Packages

$ cd ~/catkin_ws/src

The syntax for creating a catkin package is simply,

$ catkin_create_pkg <your_package_name> [dependency1 dependency2 …]

$ catkin_create_pkg first_package

I mentioned earlier that ROS packages have a conventional directory structure. Let’s take a look at a more typical package.

*  scripts (python executables)
 *  src (C++ source files)
 *  msg (for custom message definitions)
 *  srv (for service message definitions)
 *  include -> headers/libraries that are needed as dependencies
 *  config -> configuration files
 *  launch -> provide a more automated way of starting nodes

Other folders may include

*  urdf (Universal Robot Description Files)
 *  meshes (CAD files in .dae (Collada) or .stl (STereoLithography) format)
 *  worlds (XML like files that are used for Gazebo simulation environments)

There are many packages that you can install. To see a list of available packages for the Kinetic distribution, take some time to explore [here][].

[https://www.ros.org/browse/list.php][https_www.ros.org_browse_list.php]

[http_wiki.ros.org_catkin_conceptual_overview]: http://wiki.ros.org/catkin/conceptual_overview
[here]: http://www.ros.org/browse/list.php
[https_www.ros.org_browse_list.php]: https://www.ros.org/browse/list.php

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