如何编写ros的c++程序

1 先建立工作空间~/catkin_ws
参阅www.douban.com/note/516838470/ 下的创建工作空间
2 在工作空间~/catkin_ws下创建包pkg目录second
好处是通过创建包自动生成package.xml和CMakeLists.txt
可参阅www.douban.com/note/516843231/
3 在second目录下创建hello.cpp源代码文件
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eagle:~/catkin_ws$ cd src
eagle:~/catkin_ws/src$ tree second/
second/
├── CMakeLists.txt
├── package.xml
└── src
    └── hello.cpp
1 directory, 3 files
4 编写hello.cpp文件
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
#include <ros/ros.h>
int main(int argc, char **argv) {
 ros::init(argc, argv, "helloros1234444");
 ros::NodeHandle n;
 ROS_INFO("Hello, ROS!");
 ros::spinOnce();
}
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
5 修改编译makefile文件 CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(simple_examples)
find_package(catkin REQUIRED COMPONENTS roscpp)
catkin_package()
include_directories(include $catkin_INCLUDE_DIRS)
add_executable(hello hello.cpp)
target_link_libraries(hello ${catkin_LIBRARIES})
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6 回到~/catkin_ws编译程序
liao@liao-eagle:~/catkin_ws$ 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: "make cmake_check_build_system" in "/home/liao/catkin_ws/build"
####
####
#### Running command: "make -j2 -l2" in "/home/liao/catkin_ws/build"
####
Scanning dependencies of target hello
[100%] Building CXX object second/CMakeFiles/hello.dir/src/hello.cpp.o
Linking CXX executable /home/liao/catkin_ws/devel/lib/second/hello
[100%] Built target hello
liao@liao-eagle:~/catkin_ws$
7 测试c++程序
7.1一个终端里运行roscore
7.2 另外一个终端里运行 rosrun second hello
liao@liao-eagle:~/catkin_ws$ rosrun second hello
[ INFO] [1442208641.400826666]: Hello, ROS!
liao@liao-eagle:~/catkin_ws$ rospack find second
/home/liao/catkin_ws/src/second
liao@liao-eagle:~/catkin_ws$