蓝桥ROS机器人之第一个功能包helloros
Posted zhangrelay
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helloros
cmake_minimum_required(VERSION 2.8.3)
project(helloros)
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
roscpp
)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# std_msgs # Or other packages containing msgs
# )
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES helloros
# CATKIN_DEPENDS roscpp
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
$catkin_INCLUDE_DIRS
)
## Declare a C++ library
# add_library($PROJECT_NAME
# src/$PROJECT_NAME/helloros.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies($PROJECT_NAME $$PROJECT_NAME_EXPORTED_TARGETS $catkin_EXPORTED_TARGETS)
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable($PROJECT_NAME_node src/helloros_node.cpp)
add_executable($PROJECT_NAME_node src/helloros.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties($PROJECT_NAME_node PROPERTIES OUTPUT_NAME node PREFIX "")
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies($PROJECT_NAME_node $$PROJECT_NAME_EXPORTED_TARGETS $catkin_EXPORTED_TARGETS)
## Specify libraries to link a library or executable target against
# target_link_libraries($PROJECT_NAME_node
# $catkin_LIBRARIES
# )
target_link_libraries($PROJECT_NAME_node
$catkin_LIBRARIES
)
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION $CATKIN_PACKAGE_BIN_DESTINATION
# )
## Mark executables and/or libraries for installation
# install(TARGETS $PROJECT_NAME $PROJECT_NAME_node
# ARCHIVE DESTINATION $CATKIN_PACKAGE_LIB_DESTINATION
# LIBRARY DESTINATION $CATKIN_PACKAGE_LIB_DESTINATION
# RUNTIME DESTINATION $CATKIN_PACKAGE_BIN_DESTINATION
# )
## Mark cpp header files for installation
# install(DIRECTORY include/$PROJECT_NAME/
# DESTINATION $CATKIN_PACKAGE_INCLUDE_DESTINATION
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION $CATKIN_PACKAGE_SHARE_DESTINATION
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest($PROJECT_NAME-test test/test_helloros.cpp)
# if(TARGET $PROJECT_NAME-test)
# target_link_libraries($PROJECT_NAME-test $PROJECT_NAME)
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test) 
#include <ros/ros.h>
int main ( int argc , char ** argv )
// Initialize the ROS system .
ros::init( argc , argv , "hello_ros" );
// Establish this program as a ROS node .
ros::NodeHandle nh;
// Send some output as a log message .
ROS_INFO_STREAM( "Hello nihao, ROS!" );
shiyanlou:src/ $ catkin_create_pkg -h [9:38:58]
usage: catkin_create_pkg [-h] [--meta] [-s [SYS_DEPS [SYS_DEPS ...]]]
[-b [BOOST_COMPS [BOOST_COMPS ...]]] [-V PKG_VERSION]
[-D DESCRIPTION] [-l LICENSE] [-a AUTHOR]
[-m MAINTAINER] [--rosdistro ROSDISTRO]
name [dependencies [dependencies ...]]
Creates a new catkin package
positional arguments:
name The name for the package
dependencies Catkin package Dependencies
optional arguments:
-h, --help show this help message and exit
--meta Creates meta-package files
-s [SYS_DEPS [SYS_DEPS ...]], --sys-deps [SYS_DEPS [SYS_DEPS ...]]
System Dependencies
-b [BOOST_COMPS [BOOST_COMPS ...]], --boost-comps [BOOST_COMPS [BOOST_COMPS ...]]
Boost Components
-V PKG_VERSION, --pkg_version PKG_VERSION
Initial Package version
-D DESCRIPTION, --description DESCRIPTION
Description
-l LICENSE, --license LICENSE
Name for License, (e.g. BSD, MIT, GPLv3...)
-a AUTHOR, --author AUTHOR
A single author, may be used multiple times
-m MAINTAINER, --maintainer MAINTAINER
A single maintainer, may be used multiple times
--rosdistro ROSDISTRO
The ROS distro (default: environment variable
ROS_DISTRO if defined)
shiyanlou:src/ $ catkin_create_pkg helloros roscpp [9:39:09]
Created file helloros/package.xml
Created file helloros/CMakeLists.txt
Created folder helloros/include/helloros
Created folder helloros/src
Successfully created files in /home/shiyanlou/Code/helloros/src/helloros. Please adjust the values in package.xml.
shiyanlou:src/ $ cd helloros/src [9:40:06]
shiyanlou:src/ $ ls [9:41:00]
shiyanlou:src/ $ gedit helloros.cpp [9:41:05]
(gedit:1618): GVFS-RemoteVolumeMonitor-WARNING **: remote volume monitor with dbus name org.gtk.vfs.UDisks2VolumeMonitor is not supported
(gedit:1618): Gtk-WARNING **: Calling Inhibit failed: GDBus.Error:org.freedesktop.DBus.Error.ServiceUnknown: The name org.gnome.SessionManager was not provided by any .service files
shiyanlou:src/ $ ls [9:48:07]
helloros.cpp
shiyanlou:src/ $ cd .. [9:48:11]
shiyanlou:helloros/ $ l [9:48:14]
\\u603b\\u7528\\u91cf 28K
drwxrwxr-x 4 shiyanlou shiyanlou 4.0K 3\\u6708 25 09:47 .
drwxrwxr-x 3 shiyanlou shiyanlou 4.0K 3\\u6708 25 09:40 ..
-rw-rw-r-- 1 shiyanlou shiyanlou 6.8K 3\\u6708 25 09:47 CMakeLists.txt
drwxrwxr-x 3 shiyanlou shiyanlou 4.0K 3\\u6708 25 09:40 include
-rw-rw-r-- 1 shiyanlou shiyanlou 2.6K 3\\u6708 25 09:40 package.xml
drwxrwxr-x 2 shiyanlou shiyanlou 4.0K 3\\u6708 25 09:44 src
shiyanlou:helloros/ $ cd .. [9:48:16]
shiyanlou:src/ $ cd .. [9:48:21]
shiyanlou:helloros/ $ catkin_make [9:48:23]
Base path: /home/shiyanlou/Code/helloros
Source space: /home/shiyanlou/Code/helloros/src
Build space: /home/shiyanlou/Code/helloros/build
Devel space: /home/shiyanlou/Code/helloros/devel
Install space: /home/shiyanlou/Code/helloros/install
Creating symlink "/home/shiyanlou/Code/helloros/src/CMakeLists.txt" pointing to "/opt/ros/kinetic/share/catkin/cmake/toplevel.cmake"
####
#### Running command: "cmake /home/shiyanlou/Code/helloros/src -DCATKIN_DEVEL_PREFIX=/home/shiyanlou/Code/helloros/devel -DCMAKE_INSTALL_PREFIX=/home/shiyanlou/Code/helloros/install -G Unix Makefiles" in "/home/shiyanlou/Code/helloros/build"
####
-- The C compiler identification is GNU 5.4.0
-- The CXX compiler identification is GNU 5.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Using CATKIN_DEVEL_PREFIX: /home/shiyanlou/Code/helloros/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/kinetic
-- This workspace overlays: /opt/ros/kinetic
-- Found PythonInterp: /usr/bin/python (found version "2.7.12")
-- 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/shiyanlou/Code/helloros/build/test_results
-- Found gmock sources under '/usr/src/gmock': gmock will be built
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE
-- Found gtest sources under '/usr/src/gmock': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.14
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~ traversing 1 packages in topological order:
-- ~~ - helloros
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'helloros'
-- ==> add_subdirectory(helloros)
-- Configuring done
-- Generating done
-- Build files have been written to: /home/shiyanlou/Code/helloros/build
####
#### Running command: "make -j4 -l4" in "/home/shiyanlou/Code/helloros/build"
####
Scanning dependencies of target helloros_node
[ 50%] Building CXX object helloros/CMakeFiles/helloros_node.dir/src/helloros.cpp.o
/home/shiyanlou/Code/helloros/src/helloros/src/helloros.cpp: In function \\u2018int main(int, char**)\\u2019:
/home/shiyanlou/Code/helloros/src/helloros/src/helloros.cpp:7:2: error: \\u2018NodeHandlenh\\u2019 is not a member of \\u2018ros\\u2019
ros::NodeHandlenh;
^
helloros/CMakeFiles/helloros_node.dir/build.make:62: recipe for target 'helloros/CMakeFiles/helloros_node.dir/src/helloros.cpp.o' failed
make[2]: *** [helloros/CMakeFiles/helloros_node.dir/src/helloros.cpp.o] Error 1
CMakeFiles/Makefile2:907: recipe for target 'helloros/CMakeFiles/helloros_node.dir/all' failed
make[1]: *** [helloros/CMakeFiles/helloros_node.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j4 -l4" failed
shiyanlou:helloros/ $ catkin_make [9:48:42]
Base path: /home/shiyanlou/Code/helloros
Source space: /home/shiyanlou/Code/helloros/src
Build space: /home/shiyanlou/Code/helloros/build
Devel space: /home/shiyanlou/Code/helloros/devel
Install space: /home/shiyanlou/Code/helloros/install
####
#### Running command: "make cmake_check_build_system" in "/home/shiyanlou/Code/helloros/build"
####
####
#### Running command: "make -j4 -l4" in "/home/shiyanlou/Code/helloros/build"
####
Scanning dependencies of target helloros_node
[ 50%] Building CXX object helloros/CMakeFiles/helloros_node.dir/src/helloros.cpp.o
[100%] Linking CXX executable /home/shiyanlou/Code/helloros/devel/lib/helloros/helloros_node
[100%] Built target helloros_node
shiyanlou:helloros/ $ source devel/setup.zsh [9:49:29]
shiyanlou:helloros/ $ rosrun helloros helloros_node [9:49:50]
terminate called after throwing an instance of 'ros::InvalidNameException'
what(): Character [ ] is not valid as the first character in Graph Resource Name [ hello_ros ]. Valid characters are a-z, A-Z, / and in some cases ~.
[1] 2109 abort (core dumped) rosrun helloros helloros_node
shiyanlou:helloros/ $ rosrun helloros helloros_node [9:50:11]
terminate called after throwing an instance of 'ros::InvalidNameException'
what(): Character [ ] is not valid as the first character in Graph Resource Name [ hello_ros ]. Valid characters are a-z, A-Z, / and in some cases ~.
[1] 2121 abort (core dumped) rosrun helloros helloros_node
shiyanlou:helloros/ $ catkin_make [9:50:27]
Base path: /home/shiyanlou/Code/helloros
Source space: /home/shiyanlou/Code/helloros/src
Build space: /home/shiyanlou/Code/helloros/build
Devel space: /home/shiyanlou/Code/helloros/devel
Install space: /home/shiyanlou/Code/helloros/install
####
#### Running command: "make cmake_check_build_system" in "/home/shiyanlou/Code/helloros/build"
####
####
#### Running command: "make -j4 -l4" in "/home/shiyanlou/Code/helloros/build"
####
Scanning dependencies of target helloros_node
[ 50%] Building CXX object helloros/CMakeFiles/helloros_node.dir/src/helloros.cpp.o
[100%] Linking CXX executable /home/shiyanlou/Code/helloros/devel/lib/helloros/helloros_node
[100%] Built target helloros_node
shiyanlou:helloros/ $ source devel/setup.zsh [9:51:22]
shiyanlou:helloros/ $ rosrun helloros helloros_node [9:51:33]
[ INFO] [1648173097.607466664]: Hello, ROS!
shiyanlou:helloros/ $ catkin_make [9:51:37]
Base path: /home/shiyanlou/Code/helloros
Source space: /home/shiyanlou/Code/helloros/src
Build space: /home/shiyanlou/Code/helloros/build
Devel space: /home/shiyanlou/Code/helloros/devel
Install space: /home/shiyanlou/Code/helloros/install
####
#### Running command: "make cmake_check_build_system" in "/home/shiyanlou/Code/helloros/build"
####
####
#### Running command: "make -j4 -l4" in "/home/shiyanlou/Code/helloros/build"
####
Scanning dependencies of target helloros_node
[ 50%] Building CXX object helloros/CMakeFiles/helloros_node.dir/src/helloros.cpp.o
[100%] Linking CXX executable /home/shiyanlou/Code/helloros/devel/lib/helloros/helloros_node
[100%] Built target helloros_node
shiyanlou:helloros/ $ rosrun helloros helloros_node [9:52:34]
[ INFO] [1648173164.205589203]: Hello nihao, ROS!
shiyanlou:helloros/ $ [9:52:44]
shiyanlou:~/ $ history [11:37:17]
1 git clone https://gitcode.net/ZhangRelay/v-rep_pro_edu_v3_6_2_ubuntu16_04.git
2 tar
3 tar --help
4 tar --usage
5 tar -xf v-rep_pro_edu_v3_6_2_ubuntu16_04/V-REP_PRO_EDU_V3_6_2_Ubuntu16_04.tar.xz
6 cd V-REP_PRO_EDU_V3_6_2_Ubuntu16_04
7 ls
8 gedit vrep.sh
9 vrep.sh
10 ./vrep.sh
11 roscore
12 rosrun turtlesim turtlesim_node
13 rosrun turtlesim turtle_teleop_key
14 rosrun turtlesim turtlesim_node
15 rospack list
16 catkin_create_pkg
17 catkin_create_pkg -h
18 catkin_create_pkg helloros
19 catkin_create_pkg -h
20 catkin_create_pkg helloros roscpp
21 cd helloros/src
22 ls
23 gedit helloros.cpp
24 ls
25 cd ..
26 l
27 cd ..
28 catkin_make
29 source devel/setup.zsh
30 roscore
31 rosrun helloros helloros_node
32 catkin_make
33 source devel/setup.zsh
34 rosrun helloros helloros_node
35 catkin_make
36 rosrun helloros helloros_node
shiyanlou:~/ $ [11:37:20]
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