⑴ 如何使用 sdk交叉编译ros
使用ros_qtc_plugin插件新建项目
使用插件新建项目Import ROS
Workspace选项仅新建工作空间导入现工作空间新建文件ROS面Package、Basic
Node等选项创建package节点、launch文件、urdf文件等
现我创建新catkin工作空间,并且面创建package
1、新建项目
文件——新建文件或项目选择Import ROS Workspace——choose图
填写catkin工作空间名字位置图
我Namecatkin工作空间文件夹名字相同（同）名catkin_new选择浏览——创建文件夹创建名catkin_new文件夹图按车再选择打
现框询问新建工作空间未初始化否执行初始化我选择yes
相于执行catkin_init_workspace命令使工作空间初始化
点击Generate Project File再点击步
项目管理步骤配置版本控制系统我选择完图
建工作空间catkin_new空图
2、创建package
接我工作空间创建新package
catkin_new面src右键单击选择添加新文件图
选择ROS——package——choose
填写package名字test1
填写作者(Authors)维护者(Maintainers)Qt环境部没配置文支持请要用文否则新建package或者新建package面package.xml空文件
DependenciesCatkin栏填写依赖通用C++写节点需要添加roscpp依赖
图
点击完
3、添加新节点
目前package空没任何节点
我test1src文件夹右键单击选择添加新文件
选择ROS——Basic Node——choose创建节点新建.cpp文件
节点名称写node1则名node1.cpp源文件
用ROS模板新建node1.cpp源文件图自Hello World程序
4、编译节点
让编译执行文件我需要编辑test1makefile图
test1CMakeLists.txt加面几行意思node1.cpp编译名node1节点
add_executable(node1 src/node1.cpp)
target_link_libraries(node1
${catkin_LIBRARIES}
)
⑵ c++的程序在ros下怎么运行
1 先建立工作空间~/catkin_ws
2 在工作空间~/catkin_ws下创建包pkg目录second
好处是通过创建包自动生成package.xml和CMakeLists.txt
3 在second目录下创建hello.cpp源代码文件
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eagle:~/catkin_ws$ cd src
eagle:~/catkin_ws/src$ tree second/
second/
├── CMakeLists.txt
├── package.xml
└── src
└── hello.cpp
1 directory, 3 files
4 编写hello.cpp文件
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
#include <ros/ros.h>
int main(int argc, char **argv) {
ros::init(argc, argv, "helloros1234444");
ros::NodeHandle n;
ROS_INFO("Hello, ROS!");
ros::spinOnce();
}
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
5 修改编译makefile文件 CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(simple_examples)
find_package(catkin REQUIRED COMPONENTS roscpp)
catkin_package()
include_directories(include $catkin_INCLUDE_DIRS)
add_executable(hello hello.cpp)
target_link_libraries(hello ${catkin_LIBRARIES})
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6 回到~/catkin_ws编译程序
liao@liao-eagle:~/catkin_ws$ catkin_make
Base path: /home/liao/catkin_ws
Source space: /home/liao/catkin_ws/src
Build space: /home/liao/catkin_ws/build
Devel space: /home/liao/catkin_ws/devel
Install space: /home/liao/catkin_ws/install
####
#### Running command: "make cmake_check_build_system" in "/home/liao/catkin_ws/build"
####
####
#### Running command: "make -j2 -l2" in "/home/liao/catkin_ws/build"
####
Scanning dependencies of target hello
[100%] Building CXX object second/CMakeFiles/hello.dir/src/hello.cpp.o
Linking CXX executable /home/liao/catkin_ws/devel/lib/second/hello
[100%] Built target hello
liao@liao-eagle:~/catkin_ws$
7 测试c++程序
7.1一个终端里运行roscore
7.2 另外一个终端里运行 rosrun second hello
liao@liao-eagle:~/catkin_ws$ rosrun second hello
[ INFO] [1442208641.400826666]: Hello, ROS!
liao@liao-eagle:~/catkin_ws$ rospack find second
/home/liao/catkin_ws/src/second
liao@liao-eagle:~/catkin_ws$
⑶ 如何编写ros的python程序
1先建立工作空间~/catkin_ws参阅/note/516843231/3在工程目录下建一个src子目录和.py文件源代码文件：topic_publisher.py~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~#!/usr/bin/envpythonimportroslib;roslib.load_manifest('basic')importrospyfromstd_msgs.msgimportInt32rospy.init_node('topic_publisher')pub=rospy.Publisher('counter',Int32)rate=rospy.Rate(2)count=0whilenotrospy.is_shutdown():pub.publish(count)count+=1rate.sleep()~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~操作步骤如下liao@liao-eagle:~/catkin_ws$lsbuilddevelinstallsrcliao@liao-eagle:~/catkin_ws$cdsrcliao@liao-eagle:~/catkin_ws/src$lsbasicbeginner_tutorialsCMakeLists.txtfirstsecondliao@liao-eagle:~/catkin_ws/src$cdbasic/liao@liao-eagle:~/catkin_ws/src/basic$lsCMakeLists.txtpackage.xmlsrcliao@liao-eagle:~/catkin_ws/src/basic$cdsrcliao@liao-eagle:~/catkin_ws/src/basic/src$vitopic_publisher.pyliao@liao-eagle:~/catkin_ws/src/basic/src$chmod+xtopic_publisher.py4回到~/catkin_ws目录下，编译程序$cd～/catkin_wsliao@liao-eagle:~/catkin_ws$catkin_make5将当前工程加入到shell环境里去liao@liao-eagle:~/catkin_ws$echo"source~/catkin_ws/devel/setup.bash">>~/.bashrcliao@liao-eagle:~/catkin_ws$source~/.bashrc6运行程序（需开两个终端）liao@liao-eagle:~/catkin_ws$roscoreliao@liao-eagle:~/catkin_ws$rosrunbasictopic_publisher.py7通过rostopic查看相关信息liao@liao-eagle:~/catkin_ws$rostopiclist/counter/rosout/rosout_agg