Hands-On ROS for Robotics Programming

Creating a workspace

Follow these steps to create a workspace from the command line:

1. First, create the folders that you will need later to place your ROS packages:

$ mkdir -p ~/catkin_ws/src

The following are the folder descriptions:

• catkin_ws will be the root location of your workspace.
• src is where you will place your code, that is, inside the ROS packages.

Be aware that ~ is equivalent to the home folder, that is, /home/bronquillo.

2. Move to this last folder and issue the following command to initialize the workspace:

$ cd ~/catkin_ws/src$ catkin_init_workspace

The last command will generate the ~/catkin_ws/src/CMakeLists.txt file, which contains the definition and configuration of the workspace. That file really is a symlink to a ...