创建catkin Package

参考:http://wiki.ros.org/ROS/Tutorials/UnderstandingNodes

1、创建catkin workspace

$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/
$ catkin_make

2、

source devel/setup.bash

3、

$ echo $ROS_PACKAGE_PATH

4、

$ cd ~/catkin_ws/src

5、创建beginner_tutorials包，依赖std_msgs，rospy， roscpp

$ catkin_create_pkg beginner_tutorials std_msgs rospy roscpp

6、编译catkin workspace

$ cd ~/catkin_ws
$ catkin_make

7、

To add the workspace to your ROS environment you need to source the generated setup file: 

$ . ~/catkin_ws/devel/setup.bash

8、catkin_make