机器人操作系统ROSIndigo入门学习——编译一个ROSPackage.docx

1.1编译package只要所有的package系统依赖都装好了，就可以编译了。（如果你是用apt或者其他package管理器安装的ROS，那就应该已经有所有的依赖了。）记得使你的环境设置文件生效：$ source /opt/ros/%YOUR_ROS_DISTRO%/setup.bash（）$ source /opt/ros/groovy/setup.bash (For Groovy for instance) 1.1.1使用catkin_makecatkin_make命令行工具对与标准的catkin工作流程来说是一个非常方便的，你可以理解为它把调用cmake和编译结合起来了。用法：# In a catkin workspace$ catkin_make make_targets -DCMAKE_VARIABLES=.对于一个不熟悉标准Cmake流程的人来说，可以分解为以下几个步骤：（但是实际上执行这些命令是没用的，它只是说明CMake是怎样工作的）# In a CMake project$ mkdir build$ cd build$ cmake .$ make$ make install # (optionally)这是每个CMake工程的过程，但是它可以在一个工作空间中编译多个catkin工程。在一个工作空间中编译多个catkin packages是这样操作的：# In a catkin workspace$ catkin_make$ catkin_make install # (optionally)以上代码可以编译在src文件夹中的任何catkin 工程，这里参考了/reps/rep-0128.html，如果你的源代码不在src中，可以用my_src代替编译（如果出错，说明my_src不存在）：# In a catkin workspace$ catkin_make -source my_src$ catkin_make install -source my_src # (optionally)CMake的更多用法参考/catkin/commands/catkin_make。1.1.2编译你的package想要编译你自己的代码的读者请看看之后的(C+)/(Python)教程，因为你也许需要修改CMakeList.txt.经过上一个教程Creating a Package.，现在你已经有了一个catkin工作空间和一个叫做beginner_tutorials的新的package。进入catkin的工作空间，查看src文件：$ cd /catkin_ws/$ ls src输出：beginner_tutorials/ CMakeLists.txt 在src文件夹中可以看到你在之前用catkin_create_pkg创建的叫做beginner_tutorials的文件，现在我们可以用catkin_make来编译这个package：$ catkin_make可以看到从cmake和make输出很多信息，大概是这个样子：Base path: /home/ros/catkin_wsSource space: /home/ros/catkin_ws/srcBuild space: /home/ros/catkin_ws/buildDevel space: /home/ros/catkin_ws/develInstall space: /home/ros/catkin_ws/install# Running command: make cmake_check_build_system in /home/ros/catkin_ws/build#- Using CATKIN_DEVEL_PREFIX: /home/ros/catkin_ws/devel- Using CMAKE_PREFIX_PATH: /home/ros/catkin_ws/devel;/opt/ros/indigo- This workspace overlays: /home/ros/catkin_ws/devel;/opt/ros/indigo- Using PYTHON_EXECUTABLE: /usr/bin/python- Using Debian Python package layout- Using empy: /usr/bin/empy- Using CATKIN_ENABLE_TESTING: ON- Call enable_testing()- Using CATKIN_TEST_RESULTS_DIR: /home/ros/catkin_ws/build/test_results- Found gtest sources under /usr/src/gtest: gtests will be built- Using Python nosetests: /usr/bin/nosetests-2.7- catkin 0.6.11- BUILD_SHARED_LIBS is on- - traversing 1 packages in topological order:- - beginner_tutorial- - + processing catkin package: beginner_tutorial- = add_subdirectory(beginner_tutorial)- Configuring done- Generating done- Build files have been written to: /home/ros/catkin_ws/build# Running command: make -j4 -l4 in /home/ros/catkin_ws/build#注意到catkin_make首先显示每个“space”的路径，这些路径在REP128和catkin/workspaces中有描述。值得注意的是，因为这个操作在你的工作空间生成了几个默认的文件夹。$ ls builddevelsrcb