Hands-On ROS for Robotics Programming

Packages and the catkin workspace

Some commands in this section have already been used when configuring your ROS environment. Let's briefly review them now:

• catkin_init_workspace initializes a new workspace, as you did at the beginning of this chapter.
• catkin_create_pkg creates a new package.
• catkin_make builds a workspace and should be invoked each time you add a package or remove one.

These are the essential commands. Nevertheless, there are some additional commands that are worth mentioning:

• catkin_find lists the working folders of your ROS environment.
• rospack provides information about a ROS package, be it from the core, contributed, or made by yourself. If you want to know which ROS packages are installed when dealing with GoPiGo, ...