Workspaceの作成が完成しました。次はそのWorkspaceの中にPackagesを作りましょう。Manualでやるにもいいけど、あまり勧めませんね～特に私のような雑な人 汗。
順調で作成終われば、Successfully created filesみたいなメッセージが出てきますね。
| $ cd ~/myProject/catkin_ws/src/ $ catkin_create_pkg ch2_tutorials std_msgs roscpp rospy Created file ch2_tutorials/package.xml Created file ch2_tutorials/CMakeLists.txt Created folder ch2_tutorials/include/ch2_tutorials Created folder ch2_tutorials/src Successfully created files in /home/abc/myProject/catkin_ws/src/ch2_tutorials. Please adjust the values in package.xml. |
って、その中にいくつ出てきたのCatkin_create_pkgは作成するPackagesの名前ももちろん、どんなdepend(付属)が必要かも一緒に設定できます。
| Catkin_create_pkg [package_name] [depend1] [depend2] [depend3] |
では、先のコマンドで入れてdependを簡単に見てみましょう。
std_msgs:
基本なDataを表現するMessage Typeが入っています。例えばBoolやInt、そして配列など。
roscpp:
C++ Implementationです。Clientライブラリが提供され、C++のプログラマーが簡単で、早くROSのTopics,services,parametersをInterfaceすることができます。
rospy:
Python Implementationです。Clientライブラリが提供され、Pythonのプログラマーが簡単で、早くROSのTopics,services,parametersをInterfaceすることができます。
Docsによりますと、depends1は最近のROS パッケージをリストするのコマンドです。
Print newline-separated, ordered list of immediate dependencies of the package.
https://docs.ros.org/en/independent/api/rospkg/html/rospack.html
| $ rospack depends1 ch2_tutorials roscpp rospy std_msgs |
そして、dependsはすべてのROS パッケージをリストするコマンドです。
Print newline-separated, ordered list of all dependencies of the package. This is used within rosmake.
| $ rospack depends ch2_tutorials cpp_common rostime roscpp_traits roscpp_serialization catkin genmsg genpy message_runtime gencpp geneus gennodejs genlisp message_generation rosbuild rosconsole std_msgs rosgraph_msgs xmlrpcpp roscpp rosgraph ros_environment rospack roslib rospy |
最後に、ROS パッケージを作りましょう。
catkin_makeコマンドを使います。
| $ cd ~/myProject/catkin_ws/ $ catkin_make Base path: /home/abc/myProject/catkin_ws Source space: /home/abc/myProject/catkin_ws/src Build space: /home/abc/myProject/catkin_ws/build Devel space: /home/abc/myProject/catkin_ws/devel Install space: /home/abc/myProject/catkin_ws/install #### #### Running command: “cmake /home/abc/myProject/catkin_ws/src -DCATKIN_DEVEL_PREFIX=/home/abc/myProject/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/home/abc/myProject/catkin_ws/install -G Unix Makefiles” in “/home/abc/myProject/catkin_ws/build” #### — Using CATKIN_DEVEL_PREFIX: /home/abc/myProject/catkin_ws/devel — Using CMAKE_PREFIX_PATH: /home/abc/myProject/catkin_ws/devel;/opt/ros/melodic — This workspace overlays: /home/abc/myProject/catkin_ws/devel;/opt/ros/melodic — Found PythonInterp: /usr/bin/python2 (found suitable version “2.7.15”, minimum required is “2”) — Using PYTHON_EXECUTABLE: /usr/bin/python2 — Using Debian Python package layout — Using empy: /usr/bin/empy — Using CATKIN_ENABLE_TESTING: ON — Call enable_testing() — Using CATKIN_TEST_RESULTS_DIR: /home/abc/myProject/catkin_ws/build/test_results — Found gtest sources under ‘/usr/src/googletest’: gtests will be built — Found gmock sources under ‘/usr/src/googletest’: gmock will be built — Found PythonInterp: /usr/bin/python2 (found version “2.7.15”) — Using Python nosetests: /usr/bin/nosetests-2.7 — catkin 0.7.29 — BUILD_SHARED_LIBS is on — BUILD_SHARED_LIBS is on — ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ — ~~ traversing 1 packages in topological order: — ~~ – ch2_tutorials — ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ — +++ processing catkin package: ‘ch2_tutorials’ — ==> add_subdirectory(ch2_tutorials) — Configuring done — Generating done — Build files have been written to: /home/abc/myProject/catkin_ws/build #### #### Running command: “make -j2 -l2” in “/home/abc/myProject/catkin_ws/build” #### |