ROS学习笔记(一)

运行ROS例程（turtlesim）
１）安装turtlesim包
sudo apt-get install ros-kinetic-turtlesim
２）运行管理器节点
roscore
３）运行turtlesim仿真器节点
rosrun turtlesim turtlesim_node
４）运行键盘控制节点
rosrun turtlesim turtle_teleop_key

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创建工作空间
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws
catkin_init_workspace

cd ~/catkin_ws
catkin_make  //编译后目录会自动生成build和devel文件夹

source devel/setup.bash
echo $ROS_PACKAGE_PATH

//使变量终身生效方式
echo "source/WORKSPACE/devel/setup.sh" >> ~/.bashrc

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创建功能包
catkin_create_pkg <package_name> [depend1] [depend2] [depend3]
eg:
cd ~/catkin_ws/src
catkin_create_pkg learning_communication std_msgs rospy roscpp
cd ~/catkin_ws
catkin_make
source ~/catkin_ws/devel/setup.sh

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查看ROS相关环境变量
env | grep ros

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查看节点关系
rqt_graph