Hands-On ROS for Robotics Programming

Producing your source code

The mygopigo folder is ready so that we can create the package structure and place the files:

1. Create the src folder inside the package – note that this is a convention we use to standardize where the code is placed in repositories:

$ roscd mygopigo$ mkdir src$ cd src

The roscd ROS command is equivalent to the Linux bash cd command. Its advantage is that you only have to specify the package name in order to move to the package's folder, which is ~/catkin_ws/src/mygopigo/. Then, create a Python file to acquire data from the distance sensor:

$ nano distance-sensor.py

2. Copy and paste the following lines globally inside the file:

#!/usr/bin/env python# import the modulesfrom di_sensors.easy_distance_sensor import ...