ROS Robotics By Example - Second Edition

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 ros_robotics ...