catkin workspace 详解

1. cakincakin是 ROS1 的官方构建系统语言构建系统CCMakePythonsetuptoolsROS1catkin它负责编译 package处理依赖生成环境变量组织多个 ROS 包因此catkin workspace就是用 catkin 管理的 ROS 工作空间。2. catkin_ws 的典型结构catkin_ws/ ├── src/ ├── build/ ├── devel/ └── logs/(1)src里边存放 ROS package 源码例如 每一个文件夹都是一个packagecatkin_ws/src/ ├── camera_driver ├── imu_driver ├── orb_slam3 └── calibration_pkg创建包cd ~/catkin_ws/src catkin_create_pkg my_pkg rospy roscpp std_msgs就会生成my_pkg/ ├── CMakeLists.txt ├── package.xml ├── src/ └── include/(2) build/编译中间文件通常不手动修改。(3) devel/编译后的开发环境里面包括setup.bash编译好的节点Python模块库文件source ~/catkin_ws/devel/setup.bash 就是激活这个workspace3. catkin_ws 是怎么工作的Step1创建 workspacemkdir -p ~/catkin_ws/src cd ~/catkin_ws catkin_make会生成build/ devel/Step2放 packagesrc/ └── camera_pkgStep3编译 catkin_make必须在 workspace 根目录下执行catkin_makecatkin 会找到src下所有 package分析依赖调用 CMake 编译生成devel/Step4sourcesource devel/setup.bashROS 就能找到这些包运行roslaunch camera_pkg xxx.launch就成功。