xxx为c++源文件名install(TARGETSxxxARCHIVEDESTINATION${CATKIN_PACKAGE_LIB_DESTINATION}LIBRARYDESTINATION${CATKIN_PACKAGE_LIB_DESTINATION}RUNTIMEDESTINATION${CATKIN_PA...

 目录结构在包里面新建scripts文件夹，里面放运行的脚本文件，记得设置执行权限然后新建launch文件夹，新建launch文件按照如下格式写：<nodepkg="initialpos"name="initial_pos"type="initial_pos.py"output="screen">...

 目录结构如下：修改CMakeLists.txt文件install(PROGRAMSscripts/initial_pos.pyDESTINATION${CATKIN_PACKAGE_BIN_DESTINATION})install(DIRECTORYlaunch/DESTINATION${CATKIN_PA...

 #!/usr/bin/envpythonimportrospyimportmathimportsysimportcommandsimportyamlfromtfimporttransformationsfromgeometry_msgs.msgimportPoseWithCovarianceStampedc...

 #!/usr/bin/envpythonimportrospyimporttfimporttimefromtf.transformationsimport*fromstd_msgs.msgimportStringfromgeometry_msgs.msgimportPosefromgeometry_msgs...

 建立文件夹hello_rospy,再在该目录下建立子目录src，cd到该src目录，运行如下命令创建工作包catkin_create_pkgbeginner_tutorialsstd_msgsrospyroscpppkg代表所属包名，name是文件名，type是脚本文件名称，output指定输出到屏幕<...

 在开发中我们经常会遇到使用python代码启动launch文件这样的问题。一般的做法是使用subprocess调用roslaunch。但是这种方法使用起来并不方便。要涉及到自己去控制进程的状态。由于roslaunch实际上是用python实现的。使用python调用launch文件实际上有更简单的方法。im...

 defmyhook():print"shutdowntime!"rospy.on_shutdown(myhook) 或 rospy.signal_shutdown(reason)初始化节点关闭reason为关闭理由，字符串内容。 例子：#!/usr/bin/envpythoni...

 #!/usr/bin/envpythonimportrospyimporttffromtf.transformationsimport*fromstd_msgs.msgimportStringfromgeometry_msgs.msgimportPosefromgeometry_msgs.msgimport...

 #!/usr/bin/envpythonimportrospyimportmathfromtfimporttransformationsfromgeometry_msgs.msgimportPoseWithCovarianceStampedclassPoseSetter(rospy.SubscribeLis...

 sudoapt-getinstalllibbullet-dev ...

 rosnodekill-a 或者rosnodekill--all ...

 Server部分：#！/usr/bin/envpythonimportsysimportosimportrospy#frombeginner.srvimport*frombeginner.srvimportAddTwoIntsdefadd_two_ints_client(x,y):rospy.wait_fo...

 sudoapt-getinstallros-indigo-map-server ...

 Checkinglogdirectoryfordiskusage.Thismaytakeawhile.PressCtrl-CtointerruptDonecheckinglogfilediskusage.Usageis<1GB.Traceback(mostrecentcalllast):File"/o...