这篇博客是写给我自己看的，有很多省略的地方 先随便创建个文件夹（工作区），顺带在文件夹里面创建一个src文件夹
mkdir -p ~/catkin_ws/src cd ~/catkin_ws/ catkin_make添加路径
source devel/setup.bash查看一下路径有没有添加
echo $ROS_PACKAGE_PATH这时候工作区已经创建好了，接下来创建rospackage 注意，一个rospackage的格式是这样的 里面有两个文件
my_package/ CMakeLists.txt package.xml创建一个包
cd ~/catkin_ws/src catkin_create_pkg beginner_tutorials std_msgs rospy roscpp返回编译这个包
cd ~/catkin_ws catkin_make添加这个包的路径
. ~/catkin_ws/devel/setup.bash可能需要添加一下路径
source /opt/ros/kinetic/setup.bash添加一个rospackage创建发布者和订阅者
roscd beginner_tutorials mkdir -p src创建一个talker.cpp和一个listener.cpp 然后在这个rospackage的CmakeList.txt文件后面添加
add_executable(talker src/talker.cpp) target_link_libraries(talker ${catkin_LIBRARIES}) add_dependencies(talker beginner_tutorials_generate_messages_cpp) add_executable(listener src/listener.cpp) target_link_libraries(listener ${catkin_LIBRARIES}) add_dependencies(listener beginner_tutorials_generate_messages_cpp)然后回去编译
cd ~/catkin_ws catkin_make现在就写好了两个节点，测试一下
roscore cd ~/catkin_ws source ./devel/setup.bash rosrun beginner_tutorials talker cd ~/catkin_ws source ./devel/setup.bash rosrun beginner_tutorials listener应该就能看到信息了
