ubuntu14.10上创建ros包

ros包必备的有两个文件：CMakeLists.txt和 package.xml
1 基于catkin工程来创建自己的ros包，需要在workspace的src下创建包目录
再在包目录里创建CMakeLists.txt和 package.xml文件。
建一个包就要在src下建一个包的目录，其下也得有这两个文件
有关如何创建catkin的workspace可参阅http://www.douban.com/note/516838470/
2 切换到catkin工程目录的src
eagle:/opt/ros/jade/lib$ cd
eagle:~$ cd catkin_ws/
eagle:~/catkin_ws$ cd src
eagle:~/catkin_ws/src$
3使用catkin_create_pkg创建包
eagle:~/catkin_ws/src$ catkin_create_pkg beginner_tutorials std_msgs rospy roscpp
#std_msgs rospy roscpp为包beginner_tutorials的依赖
Created file beginner_tutorials/CMakeLists.txt
Created file beginner_tutorials/package.xml
Created folder beginner_tutorials/include/beginner_tutorials
Created folder beginner_tutorials/src
Successfully created files in /home/liao/catkin_ws/src/beginner_tutorials. Please adjust the values in package.xml.
eagle:~/catkin_ws/src$ ls
beginner_tutorials CMakeLists.txt
eagle:~/catkin_ws/src$ tree beginner_tutorials/
beginner_tutorials/
├── CMakeLists.txt
├── include
│ └── beginner_tutorials
├── package.xml
└── src
3 directories, 2 files
3 编译以及把包加入当前的shell
3.1 编译
eagle:~/catkin_ws/src$ cd ~/catkin_ws/
liao@liao-eagle:~/catkin_ws$ catkin_make
Base path: /home/liao/catkin_ws
Source space: /home/liao/catkin_ws/src
Build space: /home/liao/catkin_ws/build
Devel space: /home/liao/catkin_ws/devel
Install space: /home/liao/catkin_ws/install
####
#### Running command: "cmake /home/liao/catkin_ws/src -DCATKIN_DEVEL_PREFIX=/home/liao/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/home/liao/catkin_ws/install -G Unix Makefiles" in "/home/liao/catkin_ws/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/liao/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /home/liao/catkin_ws/devel;/opt/ros/jade
-- This workspace overlays: /home/liao/catkin_ws/devel;/opt/ros/jade
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/liao/catkin_ws/build/test_results
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.6.14
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~ traversing 1 packages in topological order:
-- ~~ - beginner_tutorials
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'beginner_tutorials'
-- ==> add_subdirectory(beginner_tutorials)
-- Configuring done
-- Generating done
-- Build files have been written to: /home/liao/catkin_ws/build
####
#### Running command: "make -j2 -l2" in "/home/liao/catkin_ws/build"
####
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
3.2加入到当前shell环境里
. ~/catkin_ws/devel/setup.bash
3.3 检测，看ros文件系统下是否已经有了这个包
eagle:~$ cd
eagle:~$ roscd beginner_tutorials/
eagle:~/catkin_ws/src/beginner_tutorials$
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