ROS Programming: Building Powerful Robots

Creating our own workspace

Before proceeding to further examples, we are going to create our own workspace. In this workspace, we will centralize all the code used throughout this section.

To see the workspace that ROS is using, use the following command:

    $ echo $ROS_PACKAGE_PATH  

You will see output similar to the following:

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

The folder that we are going to create is in ~/dev/catkin_ws/src/. To add this folder, we use the following commands:

    $ mkdir -p ~/dev/catkin_ws/src
    $ cd ~/dev/catkin_ws/src
    $ catkin_init_workspace  

Once we've created the workspace folder, there are no packages inside-only a CMakeList.txt file. The next step is building the workspace. To do this, we use the following ...