mkdir -p catkin_ws/src
cd ~/catkin_ws/src/
catkin_init_workspace
cd ~/catkin_ws/
catkin_make
echo "source ~/catkin_ws/devel/setup.bash">>~/.bashrc
source ~/.bashrc
echo $ROS_PACKAGE_PATH
如果上面的步骤执行正确的话，最后一步会显示工作空间路径
catkin_ws/src:以及ROS安装路径/opt/ros/melodic/share
创建功能包
在catkin_ws/src/目录下执行
catkin_create_pkg demo roscpp rospy std_msgs
其中demo是包名，roscpp rospy std_msgs是包的依赖
创建完后进入catkin_ws/src/demo/src中新建节点程序
gedit demo.cpp
节点程序编写完成后，修改catkin_ws/src/demo下的CmakeLists.txt．在文件的最后加上
add_executable(DEMO src/demo.cpp)
target_link_libraries(DEMO ${catkin_LIBRARIES})然后编译
cd ~/catkin_ws
catkin_make
. ~/catkin_ws/devel/setup.bash
