hello_ros

Hello world in ros

It is a minimum example to show how to compile in catkin. The example contains how to create

cpp package
python package

and how to generate

msg
srv
action

How To

Assumes that up-to-date ROS(>=groovy) is installed. If not please, visit installation page.(http://www.ros.org/wiki/ROS/Installation)

After the full step you should have the directory structure below.

   ros ----- build
         |
         --- devel
         |
         --- src/CMakeLists.txt
             src/hello_ros/hello_cpp
                           hello_python

Create workspace directory

This step illustrates how to create catkin workspace under ros directory and how to download sources into workspace.

> mkdir ~/ros
> cd ~/ros
> mkdir ~/ros/src
> cd ~/ros/src
> catkin_init_workspace

If catkin_init_workspace command is not available, please do

source /opt/ros//setup.bash

Download source file

> cd ~/ros/src
> git clone https://github.com/jihoonl/hello_ros.git

Compile

> cd ~/ros
> catkin_make

After catkin_make, 'build' and 'devel' directories are created.

Execution

Assumes that roscore is already running...

Execute hello_cpp

> cd ros/devel
> source setup.bash
> rosrun hello_cpp hello_cpp

Execute hello_python

> cd ros/devel
> source setup.bash
> rosrun hello_python hello_python.py

Hoopsel/hello_ros