ros21讲学习-创建包

创建包

cd ~/catkin_ws/src
catkin_create_pkg  beginner_tutorials  std_msgs rospy roscpp
#创建了一个包，beginner_tutorials是包的名字， std_msgs rospy roscpp是依赖

创建软件包

 cd〜/ catkin_ws
 catkin_make

在～/.bashrc中

source 〜/ catkin_ws / devel / setup.bash

找到一阶包依赖

rospack depends1 beginner_tutorials 

（依赖可以在package.xml中添加）

找到所有依赖，包括间接依赖(就是依赖的依赖)

rospack depends beginner_tutorials

知识点:

• Nodes: A node is an executable that uses ROS to communicate with other nodes.

• Messages: ROS data type used when subscribing or publishing to a topic.

• Topics: Nodes can publish messages to a topic as well as subscribe to a topic to receive messages.

• Master: Name service for ROS (i.e. helps nodes find each other)

• rosout: ROS equivalent of stdout/stderr

• roscore: Master + rosout + parameter server (parameter server will be introduced later)