Robot Operating System Cookbook

How to do it…

In this section, we will practice what we have learned until now. We will learn about ROS tools for navigating through the ROS filesystem and work with examples to practice setting up the ROS Workspace and the creation and building of a package and the metapackage. For creating the ROS workspace, we will perform the following steps:

1. First, we will create our own workspace. In this workspace, we will centralize all the example source code used throughout this cookbook.
2. Get the workspace that ROS is using, using the following command:

$ echo $ROS_PACKAGE_PATH

This will show an output similar to the following:

/opt/ros/kinetic/share:/opt/ros/kinetic/stacks 

3.  Create and initialize the ROS workspace:

$ mkdir -p ~/catkin_ws/src ...