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蓝桥ROS机器人之第一个功能包helloros

zhangrelay 发表于 2022/03/25 23:23:31 2022/03/25

【摘要】 helloros   cmake_minimum_required(VERSION 2.8.3)project(helloros) ## Compile as C++11, supported in ROS Kinetic and newer# add_compile_options(-std=c++11) ## ...

helloros


  
   
    
     
    
    
     
      cmake_minimum_required(VERSION 2.8.3)
     
    
   
    
     
    
    
     
      project(helloros)
     
    
   
    
     
    
    
      
     
    
   
    
     
    
    
     
      ## Compile as C++11, supported in ROS Kinetic and newer
     
    
   
    
     
    
    
     
      # add_compile_options(-std=c++11)
     
    
   
    
     
    
    
      
     
    
   
    
     
    
    
     
      ## Find catkin macros and libraries
     
    
   
    
     
    
    
     
      ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
     
    
   
    
     
    
    
     
      ## is used, also find other catkin packages
     
    
   
    
     
    
    
     
      find_package(catkin REQUIRED COMPONENTS
     
    
   
    
     
    
    
     
        roscpp
     
    
   
    
     
    
    
     
      )
     
    
   
    
     
    
    
      
     
    
   
    
     
    
    
     
      ## System dependencies are found with CMake's conventions
     
    
   
    
     
    
    
     
      # find_package(Boost REQUIRED COMPONENTS system)
     
    
   
    
     
    
    
      
     
    
   
    
     
    
    
      
     
    
   
    
     
    
    
     
      ## Uncomment this if the package has a setup.py. This macro ensures
     
    
   
    
     
    
    
     
      ## modules and global scripts declared therein get installed
     
    
   
    
     
    
    
     
      ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
     
    
   
    
     
    
    
     
      # catkin_python_setup()
     
    
   
    
     
    
    
      
     
    
   
    
     
    
    
     
      ################################################
     
    
   
    
     
    
    
     
      ## Declare ROS messages, services and actions ##
     
    
   
    
     
    
    
     
      ################################################
     
    
   
    
     
    
    
      
     
    
   
    
     
    
    
     
      ## To declare and build messages, services or actions from within this
     
    
   
    
     
    
    
     
      ## package, follow these steps:
     
    
   
    
     
    
    
     
      ## * Let MSG_DEP_SET be the set of packages whose message types you use in
     
    
   
    
     
    
    
     
      ## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
     
    
   
    
     
    
    
     
      ## * In the file package.xml:
     
    
   
    
     
    
    
     
      ## * add a build_depend tag for "message_generation"
     
    
   
    
     
    
    
     
      ## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
     
    
   
    
     
    
    
     
      ## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
     
    
   
    
     
    
    
     
      ## but can be declared for certainty nonetheless:
     
    
   
    
     
    
    
     
      ## * add a exec_depend tag for "message_runtime"
     
    
   
    
     
    
    
     
      ## * In this file (CMakeLists.txt):
     
    
   
    
     
    
    
     
      ## * add "message_generation" and every package in MSG_DEP_SET to
     
    
   
    
     
    
    
     
      ## find_package(catkin REQUIRED COMPONENTS ...)
     
    
   
    
     
    
    
     
      ## * add "message_runtime" and every package in MSG_DEP_SET to
     
    
   
    
     
    
    
     
      ## catkin_package(CATKIN_DEPENDS ...)
     
    
   
    
     
    
    
     
      ## * uncomment the add_*_files sections below as needed
     
    
   
    
     
    
    
     
      ## and list every .msg/.srv/.action file to be processed
     
    
   
    
     
    
    
     
      ## * uncomment the generate_messages entry below
     
    
   
    
     
    
    
     
      ## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
     
    
   
    
     
    
    
      
     
    
   
    
     
    
    
     
      ## Generate messages in the 'msg' folder
     
    
   
    
     
    
    
     
      # add_message_files(
     
    
   
    
     
    
    
     
      # FILES
     
    
   
    
     
    
    
     
      # Message1.msg
     
    
   
    
     
    
    
     
      # Message2.msg
     
    
   
    
     
    
    
     
      # )
     
    
   
    
     
    
    
      
     
    
   
    
     
    
    
     
      ## Generate services in the 'srv' folder
     
    
   
    
     
    
    
     
      # add_service_files(
     
    
   
    
     
    
    
     
      # FILES
     
    
   
    
     
    
    
     
      # Service1.srv
     
    
   
    
     
    
    
     
      # Service2.srv
     
    
   
    
     
    
    
     
      # )
     
    
   
    
     
    
    
      
     
    
   
    
     
    
    
     
      ## Generate actions in the 'action' folder
     
    
   
    
     
    
    
     
      # add_action_files(
     
    
   
    
     
    
    
     
      # FILES
     
    
   
    
     
    
    
     
      # Action1.action
     
    
   
    
     
    
    
     
      # Action2.action
     
    
   
    
     
    
    
     
      # )
     
    
   
    
     
    
    
      
     
    
   
    
     
    
    
     
      ## Generate added messages and services with any dependencies listed here
     
    
   
    
     
    
    
     
      # generate_messages(
     
    
   
    
     
    
    
     
      # DEPENDENCIES
     
    
   
    
     
    
    
     
      # std_msgs # Or other packages containing msgs
     
    
   
    
     
    
    
     
      # )
     
    
   
    
     
    
    
      
     
    
   
    
     
    
    
     
      ################################################
     
    
   
    
     
    
    
     
      ## Declare ROS dynamic reconfigure parameters ##
     
    
   
    
     
    
    
     
      ################################################
     
    
   
    
     
    
    
      
     
    
   
    
     
    
    
     
      ## To declare and build dynamic reconfigure parameters within this
     
    
   
    
     
    
    
     
      ## package, follow these steps:
     
    
   
    
     
    
    
     
      ## * In the file package.xml:
     
    
   
    
     
    
    
     
      ## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
     
    
   
    
     
    
    
     
      ## * In this file (CMakeLists.txt):
     
    
   
    
     
    
    
     
      ## * add "dynamic_reconfigure" to
     
    
   
    
     
    
    
     
      ## find_package(catkin REQUIRED COMPONENTS ...)
     
    
   
    
     
    
    
     
      ## * uncomment the "generate_dynamic_reconfigure_options" section below
     
    
   
    
     
    
    
     
      ## and list every .cfg file to be processed
     
    
   
    
     
    
    
      
     
    
   
    
     
    
    
     
      ## Generate dynamic reconfigure parameters in the 'cfg' folder
     
    
   
    
     
    
    
     
      # generate_dynamic_reconfigure_options(
     
    
   
    
     
    
    
     
      # cfg/DynReconf1.cfg
     
    
   
    
     
    
    
     
      # cfg/DynReconf2.cfg
     
    
   
    
     
    
    
     
      # )
     
    
   
    
     
    
    
      
     
    
   
    
     
    
    
     
      ###################################
     
    
   
    
     
    
    
     
      ## catkin specific configuration ##
     
    
   
    
     
    
    
     
      ###################################
     
    
   
    
     
    
    
     
      ## The catkin_package macro generates cmake config files for your package
     
    
   
    
     
    
    
     
      ## Declare things to be passed to dependent projects
     
    
   
    
     
    
    
     
      ## INCLUDE_DIRS: uncomment this if your package contains header files
     
    
   
    
     
    
    
     
      ## LIBRARIES: libraries you create in this project that dependent projects also need
     
    
   
    
     
    
    
     
      ## CATKIN_DEPENDS: catkin_packages dependent projects also need
     
    
   
    
     
    
    
     
      ## DEPENDS: system dependencies of this project that dependent projects also need
     
    
   
    
     
    
    
     
      catkin_package(
     
    
   
    
     
    
    
     
      # INCLUDE_DIRS include
     
    
   
    
     
    
    
     
      # LIBRARIES helloros
     
    
   
    
     
    
    
     
      # CATKIN_DEPENDS roscpp
     
    
   
    
     
    
    
     
      # DEPENDS system_lib
     
    
   
    
     
    
    
     
      )
     
    
   
    
     
    
    
      
     
    
   
    
     
    
    
     
      ###########
     
    
   
    
     
    
    
     
      ## Build ##
     
    
   
    
     
    
    
     
      ###########
     
    
   
    
     
    
    
      
     
    
   
    
     
    
    
     
      ## Specify additional locations of header files
     
    
   
    
     
    
    
     
      ## Your package locations should be listed before other locations
     
    
   
    
     
    
    
     
      include_directories(
     
    
   
    
     
    
    
     
      # include
     
    
   
    
     
    
    
       ${catkin_INCLUDE_DIRS}
     
    
   
    
     
    
    
     
      )
     
    
   
    
     
    
    
      
     
    
   
    
     
    
    
     
      ## Declare a C++ library
     
    
   
    
     
    
    
     
      # add_library(${PROJECT_NAME}
     
    
   
    
     
    
    
     
      # src/${PROJECT_NAME}/helloros.cpp
     
    
   
    
     
    
    
     
      # )
     
    
   
    
     
    
    
      
     
    
   
    
     
    
    
     
      ## Add cmake target dependencies of the library
     
    
   
    
     
    
    
     
      ## as an example, code may need to be generated before libraries
     
    
   
    
     
    
    
     
      ## either from message generation or dynamic reconfigure
     
    
   
    
     
    
    
     
      # add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
     
    
   
    
     
    
    
      
     
    
   
    
     
    
    
     
      ## Declare a C++ executable
     
    
   
    
     
    
    
     
      ## With catkin_make all packages are built within a single CMake context
     
    
   
    
     
    
    
     
      ## The recommended prefix ensures that target names across packages don't collide
     
    
   
    
     
    
    
     
      # add_executable(${PROJECT_NAME}_node src/helloros_node.cpp)
     
    
   
    
     
    
    
     
      add_executable(${PROJECT_NAME}_node src/helloros.cpp)
     
    
   
    
     
    
    
      
     
    
   
    
     
    
    
     
      ## Rename C++ executable without prefix
     
    
   
    
     
    
    
     
      ## The above recommended prefix causes long target names, the following renames the
     
    
   
    
     
    
    
     
      ## target back to the shorter version for ease of user use
     
    
   
    
     
    
    
     
      ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
     
    
   
    
     
    
    
     
      # set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
     
    
   
    
     
    
    
      
     
    
   
    
     
    
    
     
      ## Add cmake target dependencies of the executable
     
    
   
    
     
    
    
     
      ## same as for the library above
     
    
   
    
     
    
    
     
      # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
     
    
   
    
     
    
    
      
     
    
   
    
     
    
    
     
      ## Specify libraries to link a library or executable target against
     
    
   
    
     
    
    
     
      # target_link_libraries(${PROJECT_NAME}_node
     
    
   
    
     
    
    
     
      # ${catkin_LIBRARIES}
     
    
   
    
     
    
    
     
      # )
     
    
   
    
     
    
    
     
      target_link_libraries(${PROJECT_NAME}_node
     
    
   
    
     
    
    
       ${catkin_LIBRARIES}
     
    
   
    
     
    
    
     
      )
     
    
   
    
     
    
    
      
     
    
   
    
     
    
    
     
      #############
     
    
   
    
     
    
    
     
      ## Install ##
     
    
   
    
     
    
    
     
      #############
     
    
   
    
     
    
    
      
     
    
   
    
     
    
    
     
      # all install targets should use catkin DESTINATION variables
     
    
   
    
     
    
    
     
      # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
     
    
   
    
     
    
    
      
     
    
   
    
     
    
    
     
      ## Mark executable scripts (Python etc.) for installation
     
    
   
    
     
    
    
     
      ## in contrast to setup.py, you can choose the destination
     
    
   
    
     
    
    
     
      # install(PROGRAMS
     
    
   
    
     
    
    
     
      # scripts/my_python_script
     
    
   
    
     
    
    
     
      # DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
     
    
   
    
     
    
    
     
      # )
     
    
   
    
     
    
    
      
     
    
   
    
     
    
    
     
      ## Mark executables and/or libraries for installation
     
    
   
    
     
    
    
     
      # install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
     
    
   
    
     
    
    
     
      # ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
     
    
   
    
     
    
    
     
      # LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
     
    
   
    
     
    
    
     
      # RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
     
    
   
    
     
    
    
     
      # )
     
    
   
    
     
    
    
      
     
    
   
    
     
    
    
     
      ## Mark cpp header files for installation
     
    
   
    
     
    
    
     
      # install(DIRECTORY include/${PROJECT_NAME}/
     
    
   
    
     
    
    
     
      # DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
     
    
   
    
     
    
    
     
      # FILES_MATCHING PATTERN "*.h"
     
    
   
    
     
    
    
     
      # PATTERN ".svn" EXCLUDE
     
    
   
    
     
    
    
     
      # )
     
    
   
    
     
    
    
      
     
    
   
    
     
    
    
     
      ## Mark other files for installation (e.g. launch and bag files, etc.)
     
    
   
    
     
    
    
     
      # install(FILES
     
    
   
    
     
    
    
     
      # # myfile1
     
    
   
    
     
    
    
     
      # # myfile2
     
    
   
    
     
    
    
     
      # DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
     
    
   
    
     
    
    
     
      # )
     
    
   
    
     
    
    
      
     
    
   
    
     
    
    
     
      #############
     
    
   
    
     
    
    
     
      ## Testing ##
     
    
   
    
     
    
    
     
      #############
     
    
   
    
     
    
    
      
     
    
   
    
     
    
    
     
      ## Add gtest based cpp test target and link libraries
     
    
   
    
     
    
    
     
      # catkin_add_gtest(${PROJECT_NAME}-test test/test_helloros.cpp)
     
    
   
    
     
    
    
     
      # if(TARGET ${PROJECT_NAME}-test)
     
    
   
    
     
    
    
     
      # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
     
    
   
    
     
    
    
     
      # endif()
     
    
   
    
     
    
    
      
     
    
   
    
     
    
    
     
      ## Add folders to be run by python nosetests
     
    
   
    
     
    
    
     
      # catkin_add_nosetests(test)


  
   
    
     
    
    
     
      #include <ros/ros.h>
     
    
   
    
     
    
    
      
     
    
   
    
     
    
    
     
      int main ( int argc , char ** argv ) {
     
    
   
    
     
    
    
     
      // Initialize the ROS system . 
     
    
   
    
     
    
    
     
      	ros::init( argc , argv , "hello_ros" ); 
     
    
   
    
     
    
    
     
      // Establish this program as a ROS node . 
     
    
   
    
     
    
    
     
      	ros::NodeHandle nh;
     
    
   
    
     
    
    
     
      // Send some output as a log message . 
     
    
   
    
     
    
    
     	ROS_INFO_STREAM( "Hello nihao, ROS!" );
     
    
   
    
     
    
    
     
      }


  
   
    
     
    
    
     
      shiyanlou:src/ $ catkin_create_pkg -h                                 [9:38:58]
     
    
   
    
     
    
    
     
      usage: catkin_create_pkg [-h] [--meta] [-s [SYS_DEPS [SYS_DEPS ...]]]
     
    
   
    
     
    
    
     
                               [-b [BOOST_COMPS [BOOST_COMPS ...]]] [-V PKG_VERSION]
     
    
   
    
     
    
    
     
                               [-D DESCRIPTION] [-l LICENSE] [-a AUTHOR]
     
    
   
    
     
    
    
     
                               [-m MAINTAINER] [--rosdistro ROSDISTRO]
     
    
   
    
     
    
    
     
                               name [dependencies [dependencies ...]]
     
    
   
    
     
    
    
      
     
    
   
    
     
    
    
     
      Creates a new catkin package
     
    
   
    
     
    
    
      
     
    
   
    
     
    
    
     
      positional arguments:
     
    
   
    
     
    
    
     
        name                  The name for the package
     
    
   
    
     
    
    
     
        dependencies          Catkin package Dependencies
     
    
   
    
     
    
    
      
     
    
   
    
     
    
    
     
      optional arguments:
     
    
   
    
     
    
    
     
        -h, --help            show this help message and exit
     
    
   
    
     
    
    
     
        --meta                Creates meta-package files
     
    
   
    
     
    
    
     
        -s [SYS_DEPS [SYS_DEPS ...]], --sys-deps [SYS_DEPS [SYS_DEPS ...]]
     
    
   
    
     
    
    
     
                              System Dependencies
     
    
   
    
     
    
    
     
        -b [BOOST_COMPS [BOOST_COMPS ...]], --boost-comps [BOOST_COMPS [BOOST_COMPS ...]]
     
    
   
    
     
    
    
     
                              Boost Components
     
    
   
    
     
    
    
     
        -V PKG_VERSION, --pkg_version PKG_VERSION
     
    
   
    
     
    
    
     
                              Initial Package version
     
    
   
    
     
    
    
     
        -D DESCRIPTION, --description DESCRIPTION
     
    
   
    
     
    
    
     
                              Description
     
    
   
    
     
    
    
     
        -l LICENSE, --license LICENSE
     
    
   
    
     
    
    
     
                              Name for License, (e.g. BSD, MIT, GPLv3...)
     
    
   
    
     
    
    
     
        -a AUTHOR, --author AUTHOR
     
    
   
    
     
    
    
     
                              A single author, may be used multiple times
     
    
   
    
     
    
    
     
        -m MAINTAINER, --maintainer MAINTAINER
     
    
   
    
     
    
    
     
                              A single maintainer, may be used multiple times
     
    
   
    
     
    
    
     
        --rosdistro ROSDISTRO
     
    
   
    
     
    
    
     
                              The ROS distro (default: environment variable
     
    
   
    
     
    
    
     
                              ROS_DISTRO if defined)
     
    
   
    
     
    
    
     
      shiyanlou:src/ $ catkin_create_pkg helloros roscpp                    [9:39:09]
     
    
   
    
     
    
    
     
      Created file helloros/package.xml
     
    
   
    
     
    
    
     
      Created file helloros/CMakeLists.txt
     
    
   
    
     
    
    
     
      Created folder helloros/include/helloros
     
    
   
    
     
    
    
     
      Created folder helloros/src
     
    
   
    
     
    
    
     
      Successfully created files in /home/shiyanlou/Code/helloros/src/helloros. Please adjust the values in package.xml.
     
    
   
    
     
    
    
     
      shiyanlou:src/ $ cd helloros/src                                      [9:40:06]
     
    
   
    
     
    
    
     
      shiyanlou:src/ $ ls                                                   [9:41:00]
     
    
   
    
     
    
    
     
      shiyanlou:src/ $ gedit helloros.cpp                                   [9:41:05]
     
    
   
    
     
    
    
      
     
    
   
    
     
    
    
     
      (gedit:1618): GVFS-RemoteVolumeMonitor-WARNING **: remote volume monitor with dbus name org.gtk.vfs.UDisks2VolumeMonitor is not supported
     
    
   
    
     
    
    
      
     
    
   
    
     
    
    
     
      (gedit:1618): Gtk-WARNING **: Calling Inhibit failed: GDBus.Error:org.freedesktop.DBus.Error.ServiceUnknown: The name org.gnome.SessionManager was not provided by any .service files
     
    
   
    
     
    
    
     
      shiyanlou:src/ $ ls                                                   [9:48:07]
     
    
   
    
     
    
    
     
      helloros.cpp
     
    
   
    
     
    
    
     
      shiyanlou:src/ $ cd ..                                                [9:48:11]
     
    
   
    
     
    
    
     
      shiyanlou:helloros/ $ l                                               [9:48:14]
     
    
   
    
     
    
    
     
      \u603b\u7528\u91cf 28K
     
    
   
    
     
    
    
     
      drwxrwxr-x 4 shiyanlou shiyanlou 4.0K 3\u6708  25 09:47 .
     
    
   
    
     
    
    
     
      drwxrwxr-x 3 shiyanlou shiyanlou 4.0K 3\u6708  25 09:40 ..
     
    
   
    
     
    
    
     
      -rw-rw-r-- 1 shiyanlou shiyanlou 6.8K 3\u6708  25 09:47 CMakeLists.txt
     
    
   
    
     
    
    
     
      drwxrwxr-x 3 shiyanlou shiyanlou 4.0K 3\u6708  25 09:40 include
     
    
   
    
     
    
    
     
      -rw-rw-r-- 1 shiyanlou shiyanlou 2.6K 3\u6708  25 09:40 package.xml
     
    
   
    
     
    
    
     
      drwxrwxr-x 2 shiyanlou shiyanlou 4.0K 3\u6708  25 09:44 src
     
    
   
    
     
    
    
     
      shiyanlou:helloros/ $ cd ..                                           [9:48:16]
     
    
   
    
     
    
    
     
      shiyanlou:src/ $ cd ..                                                [9:48:21]
     
    
   
    
     
    
    
     
      shiyanlou:helloros/ $ catkin_make                                     [9:48:23]
     
    
   
    
     
    
    
     
      Base path: /home/shiyanlou/Code/helloros
     
    
   
    
     
    
    
     
      Source space: /home/shiyanlou/Code/helloros/src
     
    
   
    
     
    
    
     
      Build space: /home/shiyanlou/Code/helloros/build
     
    
   
    
     
    
    
     
      Devel space: /home/shiyanlou/Code/helloros/devel
     
    
   
    
     
    
    
     
      Install space: /home/shiyanlou/Code/helloros/install
     
    
   
    
     
    
    
     
      Creating symlink "/home/shiyanlou/Code/helloros/src/CMakeLists.txt" pointing to "/opt/ros/kinetic/share/catkin/cmake/toplevel.cmake"
     
    
   
    
     
    
    
     
      ####
     
    
   
    
     
    
    
     
      #### Running command: "cmake /home/shiyanlou/Code/helloros/src -DCATKIN_DEVEL_PREFIX=/home/shiyanlou/Code/helloros/devel -DCMAKE_INSTALL_PREFIX=/home/shiyanlou/Code/helloros/install -G Unix Makefiles" in "/home/shiyanlou/Code/helloros/build"
     
    
   
    
     
    
    
     
      ####
     
    
   
    
     
    
    
     
      -- The C compiler identification is GNU 5.4.0
     
    
   
    
     
    
    
     
      -- The CXX compiler identification is GNU 5.4.0
     
    
   
    
     
    
    
     
      -- Check for working C compiler: /usr/bin/cc
     
    
   
    
     
    
    
     
      -- Check for working C compiler: /usr/bin/cc -- works
     
    
   
    
     
    
    
     
      -- Detecting C compiler ABI info
     
    
   
    
     
    
    
     
      -- Detecting C compiler ABI info - done
     
    
   
    
     
    
    
     
      -- Detecting C compile features
     
    
   
    
     
    
    
     
      -- Detecting C compile features - done
     
    
   
    
     
    
    
     
      -- Check for working CXX compiler: /usr/bin/c++
     
    
   
    
     
    
    
     
      -- Check for working CXX compiler: /usr/bin/c++ -- works
     
    
   
    
     
    
    
     
      -- Detecting CXX compiler ABI info
     
    
   
    
     
    
    
     
      -- Detecting CXX compiler ABI info - done
     
    
   
    
     
    
    
     
      -- Detecting CXX compile features
     
    
   
    
     
    
    
     
      -- Detecting CXX compile features - done
     
    
   
    
     
    
    
     
      -- Using CATKIN_DEVEL_PREFIX: /home/shiyanlou/Code/helloros/devel
     
    
   
    
     
    
    
     
      -- Using CMAKE_PREFIX_PATH: /opt/ros/kinetic
     
    
   
    
     
    
    
     
      -- This workspace overlays: /opt/ros/kinetic
     
    
   
    
     
    
    
     
      -- Found PythonInterp: /usr/bin/python (found version "2.7.12") 
     
    
   
    
     
    
    
     
      -- 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/shiyanlou/Code/helloros/build/test_results
     
    
   
    
     
    
    
     
      -- Found gmock sources under '/usr/src/gmock': gmock will be built
     
    
   
    
     
    
    
     
      -- Looking for pthread.h
     
    
   
    
     
    
    
     
      -- Looking for pthread.h - found
     
    
   
    
     
    
    
     
      -- Looking for pthread_create
     
    
   
    
     
    
    
     
      -- Looking for pthread_create - not found
     
    
   
    
     
    
    
     
      -- Looking for pthread_create in pthreads
     
    
   
    
     
    
    
     
      -- Looking for pthread_create in pthreads - not found
     
    
   
    
     
    
    
     
      -- Looking for pthread_create in pthread
     
    
   
    
     
    
    
     
      -- Looking for pthread_create in pthread - found
     
    
   
    
     
    
    
     
      -- Found Threads: TRUE  
     
    
   
    
     
    
    
     
      -- Found gtest sources under '/usr/src/gmock': gtests will be built
     
    
   
    
     
    
    
     
      -- Using Python nosetests: /usr/bin/nosetests-2.7
     
    
   
    
     
    
    
     
      -- catkin 0.7.14
     
    
   
    
     
    
    
     
      -- BUILD_SHARED_LIBS is on
     
    
   
    
     
    
    
     
      -- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
     
    
   
    
     
    
    
     
      -- ~~  traversing 1 packages in topological order:
     
    
   
    
     
    
    
     
      -- ~~  - helloros
     
    
   
    
     
    
    
     
      -- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
     
    
   
    
     
    
    
     
      -- +++ processing catkin package: 'helloros'
     
    
   
    
     
    
    
     
      -- ==> add_subdirectory(helloros)
     
    
   
    
     
    
    
     
      -- Configuring done
     
    
   
    
     
    
    
     
      -- Generating done
     
    
   
    
     
    
    
     
      -- Build files have been written to: /home/shiyanlou/Code/helloros/build
     
    
   
    
     
    
    
     
      ####
     
    
   
    
     
    
    
     
      #### Running command: "make -j4 -l4" in "/home/shiyanlou/Code/helloros/build"
     
    
   
    
     
    
    
     
      ####
     
    
   
    
     
    
    
     
      Scanning dependencies of target helloros_node
     
    
   
    
     
    
    
     
      [ 50%] Building CXX object helloros/CMakeFiles/helloros_node.dir/src/helloros.cpp.o
     
    
   
    
     
    
    
     
      /home/shiyanlou/Code/helloros/src/helloros/src/helloros.cpp: In function \u2018int main(int, char**)\u2019:
     
    
   
    
     
    
    
     
      /home/shiyanlou/Code/helloros/src/helloros/src/helloros.cpp:7:2: error: \u2018NodeHandlenh\u2019 is not a member of \u2018ros\u2019
     
    
   
    
     
    
    
     
        ros::NodeHandlenh;
     
    
   
    
     
    
    
     
        ^
     
    
   
    
     
    
    
     
      helloros/CMakeFiles/helloros_node.dir/build.make:62: recipe for target 'helloros/CMakeFiles/helloros_node.dir/src/helloros.cpp.o' failed
     
    
   
    
     
    
    
     
      make[2]: *** [helloros/CMakeFiles/helloros_node.dir/src/helloros.cpp.o] Error 1
     
    
   
    
     
    
    
     
      CMakeFiles/Makefile2:907: recipe for target 'helloros/CMakeFiles/helloros_node.dir/all' failed
     
    
   
    
     
    
    
     
      make[1]: *** [helloros/CMakeFiles/helloros_node.dir/all] Error 2
     
    
   
    
     
    
    
     
      Makefile:138: recipe for target 'all' failed
     
    
   
    
     
    
    
     
      make: *** [all] Error 2
     
    
   
    
     
    
    
     
      Invoking "make -j4 -l4" failed
     
    
   
    
     
    
    
     
      shiyanlou:helloros/ $ catkin_make                                     [9:48:42]
     
    
   
    
     
    
    
     
      Base path: /home/shiyanlou/Code/helloros
     
    
   
    
     
    
    
     
      Source space: /home/shiyanlou/Code/helloros/src
     
    
   
    
     
    
    
     
      Build space: /home/shiyanlou/Code/helloros/build
     
    
   
    
     
    
    
     
      Devel space: /home/shiyanlou/Code/helloros/devel
     
    
   
    
     
    
    
     
      Install space: /home/shiyanlou/Code/helloros/install
     
    
   
    
     
    
    
     
      ####
     
    
   
    
     
    
    
     
      #### Running command: "make cmake_check_build_system" in "/home/shiyanlou/Code/helloros/build"
     
    
   
    
     
    
    
     
      ####
     
    
   
    
     
    
    
     
      ####
     
    
   
    
     
    
    
     
      #### Running command: "make -j4 -l4" in "/home/shiyanlou/Code/helloros/build"
     
    
   
    
     
    
    
     
      ####
     
    
   
    
     
    
    
     
      Scanning dependencies of target helloros_node
     
    
   
    
     
    
    
     
      [ 50%] Building CXX object helloros/CMakeFiles/helloros_node.dir/src/helloros.cpp.o
     
    
   
    
     
    
    
     
      [100%] Linking CXX executable /home/shiyanlou/Code/helloros/devel/lib/helloros/helloros_node
     
    
   
    
     
    
    
     
      [100%] Built target helloros_node
     
    
   
    
     
    
    
     
      shiyanlou:helloros/ $ source devel/setup.zsh                          [9:49:29]
     
    
   
    
     
    
    
     
      shiyanlou:helloros/ $ rosrun helloros helloros_node                   [9:49:50]
     
    
   
    
     
    
    
     
      terminate called after throwing an instance of 'ros::InvalidNameException'
     
    
   
    
     
    
    
     
        what():  Character [ ] is not valid as the first character in Graph Resource Name [ hello_ros ].  Valid characters are a-z, A-Z, / and in some cases ~.
     
    
   
    
     
    
    
     
      [1]    2109 abort (core dumped)  rosrun helloros helloros_node
     
    
   
    
     
    
    
     
      shiyanlou:helloros/ $ rosrun helloros helloros_node                   [9:50:11]
     
    
   
    
     
    
    
     
      terminate called after throwing an instance of 'ros::InvalidNameException'
     
    
   
    
     
    
    
     
        what():  Character [ ] is not valid as the first character in Graph Resource Name [ hello_ros ].  Valid characters are a-z, A-Z, / and in some cases ~.
     
    
   
    
     
    
    
     
      [1]    2121 abort (core dumped)  rosrun helloros helloros_node
     
    
   
    
     
    
    
     
      shiyanlou:helloros/ $ catkin_make                                     [9:50:27]
     
    
   
    
     
    
    
     
      Base path: /home/shiyanlou/Code/helloros
     
    
   
    
     
    
    
     
      Source space: /home/shiyanlou/Code/helloros/src
     
    
   
    
     
    
    
     
      Build space: /home/shiyanlou/Code/helloros/build
     
    
   
    
     
    
    
     
      Devel space: /home/shiyanlou/Code/helloros/devel
     
    
   
    
     
    
    
     
      Install space: /home/shiyanlou/Code/helloros/install
     
    
   
    
     
    
    
     
      ####
     
    
   
    
     
    
    
     
      #### Running command: "make cmake_check_build_system" in "/home/shiyanlou/Code/helloros/build"
     
    
   
    
     
    
    
     
      ####
     
    
   
    
     
    
    
     
      ####
     
    
   
    
     
    
    
     
      #### Running command: "make -j4 -l4" in "/home/shiyanlou/Code/helloros/build"
     
    
   
    
     
    
    
     
      ####
     
    
   
    
     
    
    
     
      Scanning dependencies of target helloros_node
     
    
   
    
     
    
    
     
      [ 50%] Building CXX object helloros/CMakeFiles/helloros_node.dir/src/helloros.cpp.o
     
    
   
    
     
    
    
     
      [100%] Linking CXX executable /home/shiyanlou/Code/helloros/devel/lib/helloros/helloros_node
     
    
   
    
     
    
    
     
      [100%] Built target helloros_node
     
    
   
    
     
    
    
     
      shiyanlou:helloros/ $ source devel/setup.zsh                          [9:51:22]
     
    
   
    
     
    
    
     
      shiyanlou:helloros/ $ rosrun helloros helloros_node                   [9:51:33]
     
    
   
    
     
    
    
     
      [ INFO] [1648173097.607466664]: Hello, ROS!
     
    
   
    
     
    
    
     
      shiyanlou:helloros/ $ catkin_make                                     [9:51:37]
     
    
   
    
     
    
    
     
      Base path: /home/shiyanlou/Code/helloros
     
    
   
    
     
    
    
     
      Source space: /home/shiyanlou/Code/helloros/src
     
    
   
    
     
    
    
     
      Build space: /home/shiyanlou/Code/helloros/build
     
    
   
    
     
    
    
     
      Devel space: /home/shiyanlou/Code/helloros/devel
     
    
   
    
     
    
    
     
      Install space: /home/shiyanlou/Code/helloros/install
     
    
   
    
     
    
    
     
      ####
     
    
   
    
     
    
    
     
      #### Running command: "make cmake_check_build_system" in "/home/shiyanlou/Code/helloros/build"
     
    
   
    
     
    
    
     
      ####
     
    
   
    
     
    
    
     
      ####
     
    
   
    
     
    
    
     
      #### Running command: "make -j4 -l4" in "/home/shiyanlou/Code/helloros/build"
     
    
   
    
     
    
    
     
      ####
     
    
   
    
     
    
    
     
      Scanning dependencies of target helloros_node
     
    
   
    
     
    
    
     
      [ 50%] Building CXX object helloros/CMakeFiles/helloros_node.dir/src/helloros.cpp.o
     
    
   
    
     
    
    
     
      [100%] Linking CXX executable /home/shiyanlou/Code/helloros/devel/lib/helloros/helloros_node
     
    
   
    
     
    
    
     
      [100%] Built target helloros_node
     
    
   
    
     
    
    
     
      shiyanlou:helloros/ $ rosrun helloros helloros_node                   [9:52:34]
     
    
   
    
     
    
    
     
      [ INFO] [1648173164.205589203]: Hello nihao, ROS!
     
    
   
    
     
    
    
     
      shiyanlou:helloros/ $                                                 [9:52:44]


  
   
    
     
    
    
     
      shiyanlou:~/ $ history                                               [11:37:17]
     
    
   
    
     
    
    
     
          1  git clone https://gitcode.net/ZhangRelay/v-rep_pro_edu_v3_6_2_ubuntu16_04.git
     
    
   
    
     
    
    
     
          2  tar
     
    
   
    
     
    
    
     
          3  tar --help
     
    
   
    
     
    
    
     
          4  tar --usage
     
    
   
    
     
    
    
     
          5  tar -xf v-rep_pro_edu_v3_6_2_ubuntu16_04/V-REP_PRO_EDU_V3_6_2_Ubuntu16_04.tar.xz
     
    
   
    
     
    
    
     
          6  cd V-REP_PRO_EDU_V3_6_2_Ubuntu16_04
     
    
   
    
     
    
    
     
          7  ls
     
    
   
    
     
    
    
     
          8  gedit vrep.sh
     
    
   
    
     
    
    
     
          9  vrep.sh
     
    
   
    
     
    
    
     
         10  ./vrep.sh
     
    
   
    
     
    
    
     
         11  roscore
     
    
   
    
     
    
    
     
         12  rosrun turtlesim turtlesim_node
     
    
   
    
     
    
    
     
         13  rosrun turtlesim turtle_teleop_key
     
    
   
    
     
    
    
     
         14  rosrun turtlesim turtlesim_node
     
    
   
    
     
    
    
     
         15  rospack list
     
    
   
    
     
    
    
     
         16  catkin_create_pkg 
     
    
   
    
     
    
    
     
         17  catkin_create_pkg -h
     
    
   
    
     
    
    
     
         18  catkin_create_pkg helloros
     
    
   
    
     
    
    
     
         19  catkin_create_pkg -h
     
    
   
    
     
    
    
     
         20  catkin_create_pkg helloros roscpp
     
    
   
    
     
    
    
     
         21  cd helloros/src
     
    
   
    
     
    
    
     
         22  ls
     
    
   
    
     
    
    
     
         23  gedit helloros.cpp 
     
    
   
    
     
    
    
     
         24  ls
     
    
   
    
     
    
    
     
         25  cd ..
     
    
   
    
     
    
    
     
         26  l
     
    
   
    
     
    
    
     
         27  cd ..
     
    
   
    
     
    
    
     
         28  catkin_make
     
    
   
    
     
    
    
     
         29  source devel/setup.zsh
     
    
   
    
     
    
    
     
         30  roscore
     
    
   
    
     
    
    
     
         31  rosrun helloros helloros_node
     
    
   
    
     
    
    
     
         32  catkin_make
     
    
   
    
     
    
    
     
         33  source devel/setup.zsh
     
    
   
    
     
    
    
     
         34  rosrun helloros helloros_node
     
    
   
    
     
    
    
     
         35  catkin_make
     
    
   
    
     
    
    
     
         36  rosrun helloros helloros_node
     
    
   
    
     
    
    
     
      shiyanlou:~/ $                                                       [11:37:20]

文章来源: zhangrelay.blog.csdn.net，作者：zhangrelay，版权归原作者所有，如需转载，请联系作者。

原文链接：zhangrelay.blog.csdn.net/article/details/123731254

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