ROS create workspace

   If some partners have optimized the terminal , Sometimes it may be inconvenient to use only one , The following commands can switch the terminal .

   Switch to terminal bash：

exec bash 

   Switch to terminal zsh：

exec zsh

（1） Create a workspace ：

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace

（2） Compile workspace ：

cd ~/catkin_ws/
catkin_make

（3） Set the environment variable ：

source devel/setup.sh

Or put the following sentence , Add to .bashrc in ：

source ~/catkin_ws/devel/setup.bash

Simply speaking , Is to develop space devel Medium setup.bash file , stay .bashrc in source once , The system sets the environment variable , You can find a workspace and know it , Find various function packs inside .
If the terminal used is zsh, The reason is the same , Add the following words to .zsh in ：

source ~/catkin_ws/devel/setup.zsh

see ros Workspace path for ：

echo $ROS_PACKAGE_PATH

（4） Generate installation space

catkin_make install

（5） Function pack

package.xml： name , Version number , describe （ purpose ）, Contact address , license , rely on ;
CMakeLists.txt： Set Compilation Rules
Before compiling , We need to find some function packs ：

Create a feature pack and include some dependencies ：

catkin_create_pkg <package_name> [depend1] [depend2] [depend3]

for example ：

catkin_create_pkg learning_topic roscpp rospy std_msgs geometry_msgs turtlesim