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ok, before we get started, we should know how to start a workspace, simply using:
these command will start a ws, and generate a workspace.
I think the most convenient IDE is roboware-studio, this can be downloaded and install from official site. Run it in terminal after you source your ros enviroment. roboware-studio based on vscode, it’s very simple to use.
After you install roboware and you have your workspace, you should right run it after this:
So you will see a beautiful interface of vscode, you haven’t add any packages right? Using this to create a ros package:
this command will create a new package named:
tutor, and the rest package are dependencies, std_msgs contains all message type of many languages, and rospy are the essential support of your package, you will have both python and C++ program in one package.
ok, once you have your package created, you should add a new
main.cpp to your src/ folder, add there codes into it:
this will implement a message publisher, it will publish a message of :
Hello, this is me ... in very 0.1 seconds which is in frequency of 10 Hz.
ok, back to your workspace root folder, and run:
this will make the whole workspace, include all your packages. After that you could run your node like this:
tutoris your package name and of-course this is your node name, after that is the executable program name of your package, be caution that the executable program maybe Python and C++, so every package could have multiple executable program.