ROS在eclipse中的编程

1、创建工作空间(已有的可以直接跳过)，打开一个终端执行如下代码：$ mkdir -p ~/catkin_ws/src$ cd ~/catkin_ws/src$ catkin_init_workspace$ cd ~/catkin_ws$ catkin_make可生成文件夹目录

2、创建一个包例如base_controller，打开一个终端执行执行如下代码：cd ~/catkin_ws/srccatkin_create_pkg base_controller std_msgs rospy roscpp

3、到catkin的工作空间，利用catkin_make命令，建立一个eclipse的项目，命令如下:cd ~/catkin_wscatkin忧溲枷茫_make --force-cmake -G"Eclipse CDT4 - Unix Makefiles"awk -f $(rospack find mk)/eclipse.awk build/.project > build/.project_with_env && mv build/.project_with_env build/.project

4、导入项目启动 Eclipse选择File --> Import --> General --> Existing Projects into Workspace

5、添加项目文件右击src，然后选择New –> Source File, 创建文件 hello.cpp，如代码实例所示：#include "ros/ros.h"int main(int argc, char **argv){ ros::init(argc, argv, "hello"); ros::NodeHandle nh; ros::Rate loop_rate(10); int count = 0; while (ros::ok()) // Keep spinning loop until user presses Ctrl+C { ROS_INFO_STREAM("hello world" << count); ros::spinOnce(); // Allow ROS to process incoming messages loop_rate.sleep(); // Sleep for the rest of the cycle count++; } return 0; }

6、编写CMakeLists.txt和package.xml文件在编译前，需要在包的CMakeLists.txt文件中添加新的编译内容，例如所示：## Declare a cpp executableadd_executable(hello src/hello.cpp)## Specify libraries to link a library or executable target againsttarget_link_libraries(hello ${catkin_LIBRARIES})

7、编译节点：按快捷键 Ctrl-B，编译项目

8、在Eclipse中运行节点创建新的启动配置，点击 Run --> Run configurations... --> C/C++ Application (double click or click on New)。确保roscore已经在终端中运行。点击Run