basicIntro.md

Basic Initialization into any ROS porject

Workspace

To create the workspace folder and do the initial setup,

mkdir -p ~/<workspace_name>/src

As an example (we will be using this workspace from here on),

mkdir -p ~/ros_workspace/src

Enter the workspace and build it.

cd ~/ros_workspace/

catkin build

Package

To create a package

cd ~/ros_workspace/src

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

As an example,

catkin_create_pkg session2_tutorials std_msgs rospy roscpp

To build the package,

catkin build

Note : Catkin build command gives a abstract view of the build process or incase it does not work,

catkin_make

command can be used. It comes as an inbuilt tool with ROS and gives a detailed output on the build process.

Initialization

To setup new environment variables,

source devel/setup.bash

We will be using the workspace created here but will create new packages for each component