4.1 Installing ROS
- Ubuntu install of indigo
- Desktop-Full Install
4.2 Insatlling rosinstall
$ sudo apt-get install python-rosinstall
$ sudo rosdep init
$ rosdep update
4.3 Building ROS Packages with Catkin
安装的文件均在 /opt/ros/indigo 下,但均为只读. 创建个人工作空间可以用来:
- 安装第三方ROS包
- 开发自己的第三方包
4.4 Creating a catkin Workspace
$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src
$ catkin_init_workspace
$ cd ~/catkin_ws # 构建
$ catkin_make
- 任何改动后都要重新构建:
$ source ~/catkin_ws/devel/setup.bash $ rospack profile - 可以将启动命令添加到 ~/.bashrc 文件
$ echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
4.5 Doing a “make clean” with catkin
注意:所有源码都在 src 目录,不要删除
$ cd ~/catkin_ws
$ \rm -rf devel build install
然后可以照常构建
$ cd ~/catkin_ws
$ catkin_make
$ source devel/setup.bash
4.6 Rebuilding a Single catkin Package
$ cd ~/catkin_ws
$ catkin_make --pkg package_name
4.7 Mixing catkin and rosbuild Workspaces
….
4.15 Installing Packages with SVN, Git, and Mercurial
Git
$ cd ~/catkin_ws/src
$ git clone git://repository/package_name
$ cd ~/catkin_ws
$ catkin_make
$ source devel/setup.bash
$ rospack profile
$ cd ~/catkin_ws/src/package_name # 构建,更新
$ git pull
$ cd ~/catkin_ws
$ catkin_make
$ source devel/setup.bash
## 4.16 Removing Packages from your Personal catkin Directory
首先应该将要移除的包从 ROS_PACKAGE_PATH 变量中移除,比如要移除一个叫的 my_catkin_package 包:
$ cd ~/catkin_ws/src
$ \rm -rf my_catkin_package
cd ~/catkin_ws
\rm -rf devel build install
catkin_make
source devel/setup.bash
测试移除是否成功:
$ roscd my_ros_package
应该输出:
roscd: No such package 'my_ros_package'