ROS学习总结 - Something TO DO

ROS学习总结

Something TO DO posted @ 2017年11月26日 22:35 in Ubuntu with tags tips ROS , 866 阅读

TIPS!

1,ros 包(package)的命名规则

ROS 包的命名遵循一个命名规范,只允许使用小写字母、数字和下划线,而且首字符必须是一个小写字母。一些 ROS工具,包括 catkin,不支持那些不遵循此命名规范的包。

2,引用当前软件包内的头文件

mazhg@mazhg-HP-ProBook-440-G3:~/catkin_ws/src$ tree test_pkg
test_pkg
├── CMakeLists.txt
├── include
│   └── test_pkg
│       └── test_pkg.h
├── package.xml
└── src
    └── test.cpp

3 directories, 4 files

在test.cpp文件中添加

#include "test_pkg/test_pkg.h"

并且将CMakeLists.txt文件中

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
#  include
  ${catkin_INCLUDE_DIRS}
)

相应的修改为:

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
  include
  ${catkin_INCLUDE_DIRS}
)

3,引用同一工作空间中其他软件包的头文件

(假设my_pkg引用test_pkg的include中的头文件test_pkg.h)

建立my_pkg的时候就将test_pkg作为依赖项

catkin_create_pkg my_pkg std_msgs roscpp rospy test_pkg

my_pkg的CMakeLists.txt文件仍然按照常规的方法修改,而test_pkg的CMakeLists.txt中需要作相应的修改,通知其他软件包(my_pkg) 当前软件包(test_pkg)包含有自定义头文件,在include目录下

catkin_package(
  INCLUDE_DIRS include  ##uncomment this line
#  LIBRARIES test_pkg
#  CATKIN_DEPENDS roscpp rospy std_msgs
#  DEPENDS system_lib
)

4,备用

备用

5,备用

备用

6,备用

备用

7,备用

备用

8,备用

备用

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