[转载]ROS知识（3）----功能包package编译的两种方
原文链接:http://www.cnblogs.com/cv-pr/p/4835635.html
catkin命令创建工作空间和包相对要复杂些，但是熟悉以后对项目的管理是非常有利的，因此官方也建议使用第二种方式。
2.1、创建工作空间
在开始具体工作之前，首先创建工作空间，并且为工作空间设置环境变量到~/.bashrc中，如果要查看已有的空间路径，可以用查询命令
$echo $ROS_PACKAGE_PATH
你将会看到如下的信息：
/home/horsetail/dev/rosbook:/home/horsetail/catkin_ws/src:/opt/ros/jade/share:/opt/ros/jade/stacks
这里的创建空间实际上就是先建立一个文件夹，然后把文件夹的路径设置到环境变量~/.bashrc中。例如我们这里创建目录~/dev/rosbook作为工作空间，和第一种方法类似。
下面我们开始创建一个catkin 工作空间：
$mkdir-p ~/catkin_ws/src
$ cd~/catkin_ws/src
即使这个工作空间是空的（在'src'目录中没有任何软件包，只有一个CMakeLists.txt链接文件），你依然可以“build”它：
$ cd ~/catkin_ws/
$ catkin_make
接下来首先source一下新生成的setup.*sh文件，把它加入环境变量到~/.bashrc文件中：
$ source ~/catkin_ws/devel/setup.bash
到此你的工作空间环境已经搭建完成
2.2、创建包
首先切换到之前创建的catkin工作空间中的src目录下：
$ cd~/catkin_ws/src
现在使用catkin_create_pkg命令来创建一个名为'mypackage1'的新程序包，这个程序包依赖于std_msgs、roscpp和rospy：
$ catkin_create_pkg mypackage1 std_msgs rospy roscpp
这将会创建一个名为beginner_tutorials的文件夹，这个文件夹里面包含一个package.xml文件和一个CMakeLists.txt文件，这两个文件都已经自动包含了部分你在执行catkin_create_pkg命令时提供的信息。
和第一种方法类似类似，把1.3节中的两个talker.cpp和listener.cpp拷贝到mypackage1/src下。
接下来，要告诉编译器如何去找到这两个文件。你需要打开mypackage1/CMakeLists.txt，在文件的末尾添加命令：
include_directories(include ${catkin_INCLUDE_DIRS})
add_executable(talker src/talker.cpp)
target_link_libraries(talker ${catkin_LIBRARIES})
add_executable(listener src/listener.cpp)
target_link_libraries(listener ${catkin_LIBRARIES})
整理后的mypackage/CMakeLists.txt内容结构如下：
cmake_minimum_required(VERSION2.8.3)project(mypackage1)## Find catkin and any catkin packagesfind_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs)## Declare ROS messages and services#add_message_files(FILES Num.msg)#默认是不注释掉的，编译会出错#add_service_files(FILES AddTwoInts.srv)#默认是不注释掉的，编译会出错## Generate added messages and services#generate_messages(DEPENDENCIES std_msgs)#默认是不注释掉的，编译会出错## Declare a catkin packagecatkin_package()## Build talker and listenerinclude_directories(include ${catkin_INCLUDE_DIRS})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)
注意：CMakeLists.txt中的有三那个命令是保留的:
## Declare ROS messages and services
#add_message_files(FILES Num.msg)
#add_service_files(FILES AddTwoInts.srv)
## Generate added messages and services
#generate_messages(DEPENDENCIES std_msgs)
这是关于服务消息方面的，这个项目中并没有用到，因此必须要注释掉，否则编译会出现错误如下：
Base path: /home/horsetail/catkin_ws
Source space:/home/horsetail/catkin_ws/src
Build space:/home/horsetail/catkin_ws/build
Devel space:/home/horsetail/catkin_ws/devel
Install space:/home/horsetail/catkin_ws/install####
#### Running command:"make cmake_check_build_system"in"/home/horsetail/catkin_ws/build"####-- Using CATKIN_DEVEL_PREFIX: /home/horsetail/catkin_ws/devel-- Using CMAKE_PREFIX_PATH: /home/horsetail/catkin_ws/devel;/opt/ros/jade-- This workspace overlays: /home/horsetail/catkin_ws/devel;/opt/ros/jade-- Using PYTHON_EXECUTABLE: /usr/bin/python--Using Debian Python package layout-- Using empy: /usr/bin/empy--Using CATKIN_ENABLE_TESTING: ON--Call enable_testing()-- Using CATKIN_TEST_RESULTS_DIR: /home/horsetail/catkin_ws/build/test_results-- Found gtest sources under'/usr/src/gtest': gtests will be built-- Using Python nosetests: /usr/bin/nosetests-2.7-- catkin0.6.14--BUILD_SHARED_LIBS is on-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~-- ~~ traversing1packagesintopological order:-- ~~ -mypackage1-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~-- +++ processing catkin package:'mypackage1'-- ==>add_subdirectory(mypackage1)
CMake Error at mypackage1/CMakeLists.txt:8(add_message_files):
Unknown CMake command"add_message_files".-- Configuring incomplete, errors occurred!See also"/home/horsetail/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also"/home/horsetail/catkin_ws/build/CMakeFiles/CMakeError.log".make: *** [cmake_check_build_system] 错误1
这个错误也折腾了我一阵子，以此铭记之。
好了，接下来就是编译它了。
2.3、编译
catkin_make是一个命令行工具，它简化了catkin的标准工作流程。你可以认为catkin_make是在CMake标准工作流程中依次调用了cmake和make。
使用方法:
# 在catkin工作空间下
$ catkin_make [make_targets] [-DCMAKE_VARIABLES=...]
记得事先source你的环境配置(setup)文件，在Ubuntu中的操作指令如下：
$ source /opt/ros/indigo/setup.bash
切换到catkin workspace ：
$ cd ~/catkin_ws/
执行编译:
$ catkin_make
输出如下编译信息：
Base path: /home/horsetail/catkin_ws
Source space:/home/horsetail/catkin_ws/src
Build space:/home/horsetail/catkin_ws/build
Devel space:/home/horsetail/catkin_ws/devel
Install space:/home/horsetail/catkin_ws/install####
#### Running command:"make cmake_check_build_system"in"/home/horsetail/catkin_ws/build"####-- Using CATKIN_DEVEL_PREFIX: /home/horsetail/catkin_ws/devel-- Using CMAKE_PREFIX_PATH: /home/horsetail/catkin_ws/devel;/opt/ros/jade-- This workspace overlays: /home/horsetail/catkin_ws/devel;/opt/ros/jade-- Using PYTHON_EXECUTABLE: /usr/bin/python--Using Debian Python package layout-- Using empy: /usr/bin/empy--Using CATKIN_ENABLE_TESTING: ON--Call enable_testing()-- Using CATKIN_TEST_RESULTS_DIR: /home/horsetail/catkin_ws/build/test_results-- Found gtest sources under'/usr/src/gtest': gtests will be built-- Using Python nosetests: /usr/bin/nosetests-2.7-- catkin0.6.14--BUILD_SHARED_LIBS is on-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~-- ~~ traversing1packagesintopological order:-- ~~ -mypackage1-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~-- +++ processing catkin package:'mypackage1'-- ==>add_subdirectory(mypackage1)-- Configuringdone-- Generatingdone-- Build files have been written to: /home/horsetail/catkin_ws/build
####
#### Running command:"make -j4 -l4"in"/home/horsetail/catkin_ws/build"####
Scanning dependencies of target talker
Scanning dependencies of target listener
[50%] Building CXXobjectmypackage1/CMakeFiles/listener.dir/src/listener.cpp.o
[100%] Building CXXobjectmypackage1/CMakeFiles/talker.dir/src/talker.cpp.o
Linking CXX executable/home/horsetail/catkin_ws/devel/lib/mypackage1/talker
[100%] Built target talker
Linking CXX executable/home/horsetail/catkin_ws/devel/lib/mypackage1/listener
[100%] Built target listener
恭喜编译成功了，接下来可以尝下先。
2.4、运行
运行的步骤和1.3是一样的，请参阅1.3的详细描述。因为按照两种方法编译了两个相同的包名和节点，因此在启动时会提示选择哪一个节点进行运行，按照提示选择即可。
2.5、源码
最后，附上源码：catkin_ws.tar.gz
