ROS create workspace and package

1. Introduction

workspace is a folder, containing relative files and folder

• src: Source Space
• build: Build Space
• devel: Development Space
• install: Install Space

example

2. create workspace

create workspace

mkdir -p ~/catkin_ws/src

cd ~/catkin_ws/src

catkin_init_workspace

compile the workspace

cd ~/catkin_ws/ # go back to the workspace root

catkin_make

catkin_make install

setup the environment variable

source devel/setup.bash

echo $ROS_PACKAGE_PATH # check environemnt variable

3. create package

cd ~/catkin_ws/src # go to src folder under your root folder

catkin_create_pkg <package_name> [depend1] [depend2] [depend3]

example

catkin_create_pkg test_pkg roscpp rospy std_msgs

compile the package

cd ~/catkin_ws # go back to root folder again

source ~/catkin_ws/devel/sessssstup.bash