怎么安装catkin
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1 先建立工作空间~/catkin_ws
参阅 下的创建工作空间
catkin_create_pkg basic std_msgs rospy
2 在工作空间~/catkin_ws下创建包pkg目录basic
好处是通过创建包自动生成package.xml和CMakeLists.txt
可参阅
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/env python
import roslib; roslib.load_manifest('basic')
import rospy
from std_msgs.msg import Int32
rospy.init_node('topic_publisher')
pub = rospy.Publisher('counter', Int32)
rate = rospy.Rate(2)
count = 0
while not rospy.is_shutdown():
pub.publish(count)
count += 1
rate.sleep()
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
操作步骤如下
liao@liao-eagle:~/catkin_ws$ ls
build devel install src
liao@liao-eagle:~/catkin_ws$ cd src
liao@liao-eagle:~/catkin_ws/src$ ls
basic beginner_tutorials CMakeLists.txt first second
liao@liao-eagle:~/catkin_ws/src$ cd basic/
liao@liao-eagle:~/catkin_ws/src/basic$ ls
CMakeLists.txt package.xml src
liao@liao-eagle:~/catkin_ws/src/basic$ cd src
liao@liao-eagle:~/catkin_ws/src/basic/src$ vi topic_publisher.py
liao@liao-eagle:~/catkin_ws/src/basic/src$ chmod +x topic_publisher.py
4 回到~/catkin_ws目录下，编译程序
$ cd ～/catkin_ws
liao@liao-eagle:~/catkin_ws$ catkin_make
5 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" >> ~/.bashrc
liao@liao-eagle:~/catkin_ws$ source ~/.bashrc
6 运行程序（需开两个终端）
liao@liao-eagle:~/catkin_ws$ roscore
liao@liao-eagle:~/catkin_ws$ rosrun basic topic_publisher.py
7 通过rostopic查看相关信息
liao@liao-eagle:~/catkin_ws$ rostopic list
/counter
/rosout
/rosout_agg
