蓝桥ROS机器人之第一个功能包helloros

cmake_minimum_required(VERSION 2.8.3)
project(helloros)

## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  roscpp
)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)


## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
# add_message_files(
#   FILES
#   Message1.msg
#   Message2.msg
# )

## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

## Generate added messages and services with any dependencies listed here
# generate_messages(
#   DEPENDENCIES
#   std_msgs  # Or other packages containing msgs
# )

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES helloros
#  CATKIN_DEPENDS roscpp
#  DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
  ${catkin_INCLUDE_DIRS}
)

## Declare a C++ library
# add_library(${PROJECT_NAME}
#   src/${PROJECT_NAME}/helloros.cpp
# )

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/helloros_node.cpp)
add_executable(${PROJECT_NAME}_node src/helloros.cpp)

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
#   ${catkin_LIBRARIES}
# )
target_link_libraries(${PROJECT_NAME}_node
  ${catkin_LIBRARIES}
)

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables and/or libraries for installation
# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_helloros.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)

#include <ros/ros.h>

int main ( int argc , char ** argv ) {
// Initialize the ROS system . 
	ros::init( argc , argv , "hello_ros" ); 
// Establish this program as a ROS node . 
	ros::NodeHandle nh;
// Send some output as a log message . 
	ROS_INFO_STREAM( "Hello nihao, ROS!" );
}

shiyanlou:src/ $ catkin_create_pkg -h                                 [9:38:58]
usage: catkin_create_pkg [-h] [--meta] [-s [SYS_DEPS [SYS_DEPS ...]]]
                         [-b [BOOST_COMPS [BOOST_COMPS ...]]] [-V PKG_VERSION]
                         [-D DESCRIPTION] [-l LICENSE] [-a AUTHOR]
                         [-m MAINTAINER] [--rosdistro ROSDISTRO]
                         name [dependencies [dependencies ...]]

Creates a new catkin package

positional arguments:
  name                  The name for the package
  dependencies          Catkin package Dependencies

optional arguments:
  -h, --help            show this help message and exit
  --meta                Creates meta-package files
  -s [SYS_DEPS [SYS_DEPS ...]], --sys-deps [SYS_DEPS [SYS_DEPS ...]]
                        System Dependencies
  -b [BOOST_COMPS [BOOST_COMPS ...]], --boost-comps [BOOST_COMPS [BOOST_COMPS ...]]
                        Boost Components
  -V PKG_VERSION, --pkg_version PKG_VERSION
                        Initial Package version
  -D DESCRIPTION, --description DESCRIPTION
                        Description
  -l LICENSE, --license LICENSE
                        Name for License, (e.g. BSD, MIT, GPLv3...)
  -a AUTHOR, --author AUTHOR
                        A single author, may be used multiple times
  -m MAINTAINER, --maintainer MAINTAINER
                        A single maintainer, may be used multiple times
  --rosdistro ROSDISTRO
                        The ROS distro (default: environment variable
                        ROS_DISTRO if defined)
shiyanlou:src/ $ catkin_create_pkg helloros roscpp                    [9:39:09]
Created file helloros/package.xml
Created file helloros/CMakeLists.txt
Created folder helloros/include/helloros
Created folder helloros/src
Successfully created files in /home/shiyanlou/Code/helloros/src/helloros. Please adjust the values in package.xml.
shiyanlou:src/ $ cd helloros/src                                      [9:40:06]
shiyanlou:src/ $ ls                                                   [9:41:00]
shiyanlou:src/ $ gedit helloros.cpp                                   [9:41:05]

(gedit:1618): GVFS-RemoteVolumeMonitor-WARNING **: remote volume monitor with dbus name org.gtk.vfs.UDisks2VolumeMonitor is not supported

(gedit:1618): Gtk-WARNING **: Calling Inhibit failed: GDBus.Error:org.freedesktop.DBus.Error.ServiceUnknown: The name org.gnome.SessionManager was not provided by any .service files
shiyanlou:src/ $ ls                                                   [9:48:07]
helloros.cpp
shiyanlou:src/ $ cd ..                                                [9:48:11]
shiyanlou:helloros/ $ l                                               [9:48:14]
\u603b\u7528\u91cf 28K
drwxrwxr-x 4 shiyanlou shiyanlou 4.0K 3\u6708  25 09:47 .
drwxrwxr-x 3 shiyanlou shiyanlou 4.0K 3\u6708  25 09:40 ..
-rw-rw-r-- 1 shiyanlou shiyanlou 6.8K 3\u6708  25 09:47 CMakeLists.txt
drwxrwxr-x 3 shiyanlou shiyanlou 4.0K 3\u6708  25 09:40 include
-rw-rw-r-- 1 shiyanlou shiyanlou 2.6K 3\u6708  25 09:40 package.xml
drwxrwxr-x 2 shiyanlou shiyanlou 4.0K 3\u6708  25 09:44 src
shiyanlou:helloros/ $ cd ..                                           [9:48:16]
shiyanlou:src/ $ cd ..                                                [9:48:21]
shiyanlou:helloros/ $ catkin_make                                     [9:48:23]
Base path: /home/shiyanlou/Code/helloros
Source space: /home/shiyanlou/Code/helloros/src
Build space: /home/shiyanlou/Code/helloros/build
Devel space: /home/shiyanlou/Code/helloros/devel
Install space: /home/shiyanlou/Code/helloros/install
Creating symlink "/home/shiyanlou/Code/helloros/src/CMakeLists.txt" pointing to "/opt/ros/kinetic/share/catkin/cmake/toplevel.cmake"
####
#### Running command: "cmake /home/shiyanlou/Code/helloros/src -DCATKIN_DEVEL_PREFIX=/home/shiyanlou/Code/helloros/devel -DCMAKE_INSTALL_PREFIX=/home/shiyanlou/Code/helloros/install -G Unix Makefiles" in "/home/shiyanlou/Code/helloros/build"
####
-- The C compiler identification is GNU 5.4.0
-- The CXX compiler identification is GNU 5.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Using CATKIN_DEVEL_PREFIX: /home/shiyanlou/Code/helloros/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/kinetic
-- This workspace overlays: /opt/ros/kinetic
-- Found PythonInterp: /usr/bin/python (found version "2.7.12") 
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/shiyanlou/Code/helloros/build/test_results
-- Found gmock sources under '/usr/src/gmock': gmock will be built
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE  
-- Found gtest sources under '/usr/src/gmock': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.14
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 1 packages in topological order:
-- ~~  - helloros
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'helloros'
-- ==> add_subdirectory(helloros)
-- Configuring done
-- Generating done
-- Build files have been written to: /home/shiyanlou/Code/helloros/build
####
#### Running command: "make -j4 -l4" in "/home/shiyanlou/Code/helloros/build"
####
Scanning dependencies of target helloros_node
[ 50%] Building CXX object helloros/CMakeFiles/helloros_node.dir/src/helloros.cpp.o
/home/shiyanlou/Code/helloros/src/helloros/src/helloros.cpp: In function \u2018int main(int, char**)\u2019:
/home/shiyanlou/Code/helloros/src/helloros/src/helloros.cpp:7:2: error: \u2018NodeHandlenh\u2019 is not a member of \u2018ros\u2019
  ros::NodeHandlenh;
  ^
helloros/CMakeFiles/helloros_node.dir/build.make:62: recipe for target 'helloros/CMakeFiles/helloros_node.dir/src/helloros.cpp.o' failed
make[2]: *** [helloros/CMakeFiles/helloros_node.dir/src/helloros.cpp.o] Error 1
CMakeFiles/Makefile2:907: recipe for target 'helloros/CMakeFiles/helloros_node.dir/all' failed
make[1]: *** [helloros/CMakeFiles/helloros_node.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j4 -l4" failed
shiyanlou:helloros/ $ catkin_make                                     [9:48:42]
Base path: /home/shiyanlou/Code/helloros
Source space: /home/shiyanlou/Code/helloros/src
Build space: /home/shiyanlou/Code/helloros/build
Devel space: /home/shiyanlou/Code/helloros/devel
Install space: /home/shiyanlou/Code/helloros/install
####
#### Running command: "make cmake_check_build_system" in "/home/shiyanlou/Code/helloros/build"
####
####
#### Running command: "make -j4 -l4" in "/home/shiyanlou/Code/helloros/build"
####
Scanning dependencies of target helloros_node
[ 50%] Building CXX object helloros/CMakeFiles/helloros_node.dir/src/helloros.cpp.o
[100%] Linking CXX executable /home/shiyanlou/Code/helloros/devel/lib/helloros/helloros_node
[100%] Built target helloros_node
shiyanlou:helloros/ $ source devel/setup.zsh                          [9:49:29]
shiyanlou:helloros/ $ rosrun helloros helloros_node                   [9:49:50]
terminate called after throwing an instance of 'ros::InvalidNameException'
  what():  Character [ ] is not valid as the first character in Graph Resource Name [ hello_ros ].  Valid characters are a-z, A-Z, / and in some cases ~.
[1]    2109 abort (core dumped)  rosrun helloros helloros_node
shiyanlou:helloros/ $ rosrun helloros helloros_node                   [9:50:11]
terminate called after throwing an instance of 'ros::InvalidNameException'
  what():  Character [ ] is not valid as the first character in Graph Resource Name [ hello_ros ].  Valid characters are a-z, A-Z, / and in some cases ~.
[1]    2121 abort (core dumped)  rosrun helloros helloros_node
shiyanlou:helloros/ $ catkin_make                                     [9:50:27]
Base path: /home/shiyanlou/Code/helloros
Source space: /home/shiyanlou/Code/helloros/src
Build space: /home/shiyanlou/Code/helloros/build
Devel space: /home/shiyanlou/Code/helloros/devel
Install space: /home/shiyanlou/Code/helloros/install
####
#### Running command: "make cmake_check_build_system" in "/home/shiyanlou/Code/helloros/build"
####
####
#### Running command: "make -j4 -l4" in "/home/shiyanlou/Code/helloros/build"
####
Scanning dependencies of target helloros_node
[ 50%] Building CXX object helloros/CMakeFiles/helloros_node.dir/src/helloros.cpp.o
[100%] Linking CXX executable /home/shiyanlou/Code/helloros/devel/lib/helloros/helloros_node
[100%] Built target helloros_node
shiyanlou:helloros/ $ source devel/setup.zsh                          [9:51:22]
shiyanlou:helloros/ $ rosrun helloros helloros_node                   [9:51:33]
[ INFO] [1648173097.607466664]: Hello, ROS!
shiyanlou:helloros/ $ catkin_make                                     [9:51:37]
Base path: /home/shiyanlou/Code/helloros
Source space: /home/shiyanlou/Code/helloros/src
Build space: /home/shiyanlou/Code/helloros/build
Devel space: /home/shiyanlou/Code/helloros/devel
Install space: /home/shiyanlou/Code/helloros/install
####
#### Running command: "make cmake_check_build_system" in "/home/shiyanlou/Code/helloros/build"
####
####
#### Running command: "make -j4 -l4" in "/home/shiyanlou/Code/helloros/build"
####
Scanning dependencies of target helloros_node
[ 50%] Building CXX object helloros/CMakeFiles/helloros_node.dir/src/helloros.cpp.o
[100%] Linking CXX executable /home/shiyanlou/Code/helloros/devel/lib/helloros/helloros_node
[100%] Built target helloros_node
shiyanlou:helloros/ $ rosrun helloros helloros_node                   [9:52:34]
[ INFO] [1648173164.205589203]: Hello nihao, ROS!
shiyanlou:helloros/ $                                                 [9:52:44]

shiyanlou:~/ $ history                                               [11:37:17]
    1  git clone https://gitcode.net/ZhangRelay/v-rep_pro_edu_v3_6_2_ubuntu16_04.git
    2  tar
    3  tar --help
    4  tar --usage
    5  tar -xf v-rep_pro_edu_v3_6_2_ubuntu16_04/V-REP_PRO_EDU_V3_6_2_Ubuntu16_04.tar.xz
    6  cd V-REP_PRO_EDU_V3_6_2_Ubuntu16_04
    7  ls
    8  gedit vrep.sh
    9  vrep.sh
   10  ./vrep.sh
   11  roscore
   12  rosrun turtlesim turtlesim_node
   13  rosrun turtlesim turtle_teleop_key
   14  rosrun turtlesim turtlesim_node
   15  rospack list
   16  catkin_create_pkg 
   17  catkin_create_pkg -h
   18  catkin_create_pkg helloros
   19  catkin_create_pkg -h
   20  catkin_create_pkg helloros roscpp
   21  cd helloros/src
   22  ls
   23  gedit helloros.cpp 
   24  ls
   25  cd ..
   26  l
   27  cd ..
   28  catkin_make
   29  source devel/setup.zsh
   30  roscore
   31  rosrun helloros helloros_node
   32  catkin_make
   33  source devel/setup.zsh
   34  rosrun helloros helloros_node
   35  catkin_make
   36  rosrun helloros helloros_node
shiyanlou:~/ $                                                       [11:37:20]