ROS_Stack

Posted 2022-12-13 Sonictl

rostopic pub my_topic std_msgs/String "hello there"
*** Multi_line_pub ***
$ rostopic pub /send_BTSVR std_msgs/String "data: '\\
first line

second line

third line
'"

=== 【创建ROS Package (catkin) 】=== 
1. 确认你的catkin Workspace：~/catkin_ws/

2. $ cd ~/catkin_ws/src

3. 创建package （http://wiki.ros.org/ROS/Tutorials/catkin/CreatingPackage）
   catkin_create_pkg <package_name> [depend1] [depend2] [depend3] ... [dependn]
   e.g.: 
   catkin_create_pkg beginner_tutorials std_msgs rospy roscpp

4. 编译catkin Workspace:
   cd ~/catkin_ws
   catkin_make

5. Source the generated setup file:
   $ . ~/catkin_ws/devel/setup.bash

6. 可用工具：
   rospack
   roscd <package_name>
   
7. Customize Your Packages:
   http://wiki.ros.org/ROS/Tutorials/CreatingPackage#ROS.2BAC8-Tutorials.2BAC8-catkin.2BAC8-CreatingPackage.Customizing_Your_Package

8. the binary file generated after your building your catking project is in this path:
   /home/exbot/catkin_ws/devel/lib/your pkg_name
=== 【Eclipse Project 生成步骤：】 ====
Generate the Eclipse Files for dev. in Eclipse IDE
    $ cd ~/catkin_ws    //这实际上是Workspace的路径，catkin_ws = catkin workspace
    $ catkin_make --force-cmake -G"Eclipse CDT4 - Unix Makefiles"
    $ . ~/catkin_ws/devel/setup.bash
to generate the .project file and then run:
    $ awk -f $(rospack find mk)/eclipse.awk build/.project > build/.project_with_env && mv build/.project_with_env build/.project
在Eclipse里创建cpp源文件：
   Project@Build -> [Source directory] -> robot_cleaner ->src ->单击鼠标右键-> new ->file ->File name:robot_cleaner.cpp
   此时刷新Eclipse里的Project Explorer，可以看到“robot_cleaner”这个项目。
  【问题】： 为何要在Terminal里建立Package再生成Eclipse File，不能直接在Eclipse里创建Package么？怎么创建？

=== 【Ubuntu 挂载共享文件夹命令：】 ===
sudo mount -t vboxsf shareforvbox /mnt/share
sudo mount -? /dev/sda1 /mnt/udisk

=== 【ROS Stack Package等各元件结构:】 ====
[Stack]
   	[Package1]
    	    	[Nodes]
    	    	[Messages]
    	    	[Services]
    	    	[Libraries]
    	    	[Tools]
		package.xml
		CMakeLists.txt
		
    	[/Package1]

   	[Package2]
    	    	[Nodes]
    	    	[Messages]
    	    	[Services]
    	    	[Libraries]
    	    	[Tools]
    	[/Package2]
[/Stack]