c++和python实现ros中的helloworld

一、cpp

1.新建文件

mkdir -p catkin_ws/src
cd catkin_ws
catkin_make -DPYTHON_EXECUTABLE=usr/bin/python3

2.建立功能包

cd src
catkin_create_pkg helloworld roscpp rospy std_msgs
cd helloworld/src

3.源码与编译

sudo gedit hello.cpp

写入：

#include"ros/ros.h"
int main(int argc ,char *argv[ ] )
{  ros::init(argc,argv,"haha");
   ROS_INFO("hello world")
   return o;
}

编译前修改：CMakelist

包的映射：用helloworld映射hello.cpp
lib映射也是一样

add_executable(helloworld src/hello.cpp)

target_link_libraries(helloworld
   ${catkin_LIBRARIES}
 )

返回去编译：
catkin_make

4.结果：
roscore
rosrun helloworld helloworld

二、py

py版本基本操作相差不大，只是细节部分的处理：

mkdir -p catkin_ws/src
cd catkin_ws
catkin_make -DPYTHON_EXECUTABLE=usr/bin/python3

cd src
catkin_create_pkg helloworld roscpp rospy std_msgs

此时不再是进入，而是创建和src同级的scripts

mkdir -p helloworls/scripts

然后写hello.py:

import rospy

if __name__ == "__main__":
    rospy.init_node("Hello")
    rospy.loginfo("Hello World from python!")

再去修改CMakelists
c++的后面注释：

catkin_install_python(PROGRAMS
   scripts/hello.py
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )

以上的只是改了scripts/hello.py
然后正常编译执行
结果：

写到这里，我发现一个很不错的终端方案：

sudo apt-get install terminator

安装好后就能进行分屏了，十分适合运行多命令
再修改一下终端配置：

 sudo gedit ~/.config/terminator/config
 [global_config]
  geometry_hinting = False
  handle_size = 1
  inactive_color_offset = 1.0
  title_font = mry_KacstQurn Bold 11
  title_hide_sizetext = True
[keybindings]
[layouts]
  [[default]]
    [[[child1]]]
      parent = window0
      profile = default
      type = Terminal
    [[[window0]]]
      parent = ""
      type = Window
[plugins]
[profiles]
  [[default]]
    background_darkness = 0.76
    background_image = None
    background_type = transparent
    cursor_color = "#3036ec"
    custom_command = tmux
    font = Ubuntu Mono 13
    foreground_color = "#ffffff"
    login_shell = True
    show_titlebar = False
    use_system_font = False