June 2016
Intermediate to advanced
428 pages
9h 15m
English
Content preview from ROS Robotics By ExampleBecome an O’Reilly member and get unlimited access to this title plus top books and audiobooks from O’Reilly and nearly 200 top publishers, thousands of courses curated by job role, 150+ live events each month,
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Creating and building a ROS package
Before we begin to design and build our robot model in simulation, we should create our first ROS package. In Chapter 1, Getting Started with ROS, we created a ROS catkin workspace under /home/<username>/catkin_ws. The structure of a catkin workspace looks like this:
catkin_ws/ -- WORKSPACE build/ -- BUILD SPACE devel/ -- DEVEL SPACE src/ -- SOURCE SPACE CMakeLists.txt -- 'Toplevel' CMake file, provided by catkin
Tip
Make sure that you have source ~/catkin_ws/devel/setup.bash in your .bashrc file, or this command is entered at the terminal window prompt.
We begin by moving to your catkin workspace source directory:
$ cd ~/catkin_ws/src
Now, let's create our first ROS package, ros_robotics:
$ catkin_create_pkg ...Become an O’Reilly member and get unlimited access to this title plus top books and audiobooks from O’Reilly and nearly 200 top publishers, thousands of courses curated by job role, 150+ live events each month,
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O’Reilly covers everything we've got, with content to help us build a world-class technology community, upgrade the capabilities and competencies of our teams, and improve overall team performance as well as their engagement.Julian F.
I wanted to learn C and C++, but it didn't click for me until I picked up an O'Reilly book. When I went on the O’Reilly platform, I was astonished to find all the books there, plus live events and sandboxes so you could play around with the technology.Addison B.
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I'm always learning. So when I got on to O'Reilly, I was like a kid in a candy store. There are playlists. There are answers. There's on-demand training. It's worth its weight in gold, in terms of what it allows me to do.