{"id":54288,"date":"2025-08-13T01:00:02","date_gmt":"2025-08-12T17:00:02","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/54288.html"},"modified":"2025-08-13T01:00:02","modified_gmt":"2025-08-12T17:00:02","slug":"%e8%a7%a3%e5%86%b3ros%e7%bc%96%e8%af%91%e9%a1%ba%e5%ba%8f%e4%b8%8d%e5%af%b9%ef%bc%8c%e9%9c%80%e8%a6%81%e5%86%85%e9%83%a8%e4%be%9d%e8%b5%96%ef%bc%8c%e5%9b%a0%e6%ad%a4%e8%a6%81%e5%a4%9a%e6%ac%a1","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/54288.html","title":{"rendered":"\u89e3\u51b3ROS\u7f16\u8bd1\u987a\u5e8f\u4e0d\u5bf9\uff0c\u9700\u8981\u5185\u90e8\u4f9d\u8d56\uff0c\u56e0\u6b64\u8981\u591a\u6b21\u7f16\u8bd1\u7684\u95ee\u9898"},"content":{"rendered":"<h3>\u95ee\u9898<\/h3>\n<p>workspace\u4e2d\u6709\u591a\u4e2a\u5305A, B, C, D&#xff0c;\u5176\u4e2dA\u7684\u7f16\u8bd1\u6210\u529f\u9996\u5148\u9700\u8981\u4f9d\u8d56B\u7684\u7f16\u8bd1\u6210\u529f&#xff0c;\u4f46\u662f\u7f16\u8bd1\u5668\u5f80\u5f80\u4f1a\u5148\u7f16\u8bd1A&#xff0c;\u8fd9\u4e2a\u65f6\u5019\u8fd8\u6ca1\u6709\u7f16\u8bd1\u597dB&#xff0c;\u56e0\u6b64\u5c31\u4f1a\u62a5\u9519&#xff0c;\u9700\u8981\u91cd\u65b0\u8fdb\u884ccatkin build\u4e00\u6b21\u624d\u80fd\u591f\u6210\u529f\u3002<\/p>\n<hr \/>\n<h3>\u53ef\u80fd\u539f\u56e0<\/h3>\n<li>\n<p>\u4f9d\u8d56\u58f0\u660e\u4e0d\u5b8c\u6574<\/p>\n<ul>\n<li>package.xml \u6216 CMakeLists.txt \u91cc\u6ca1\u6709\u628a\u4f9d\u8d56\u5305\u5b8c\u6574\u58f0\u660e\u4e3a build_depend \/ exec_depend \/ depend\u3002<\/li>\n<li>\u5982\u679c\u6ca1\u6709\u6b63\u786e\u58f0\u660e&#xff0c;catkin \u5728\u6784\u5efa\u4f9d\u8d56\u5173\u7cfb\u65f6\u5c31\u4e0d\u77e5\u9053\u5e94\u8be5\u5148\u6784\u5efa\u8c01\u3002<\/li>\n<\/ul>\n<\/li>\n<li>\n<p>\u6df7\u5408\u4e86 find_package() \u548c\u624b\u52a8\u8def\u5f84<\/p>\n<ul>\n<li>\u6709\u4e9b\u5305\u76f4\u63a5\u5728 CMakeLists.txt \u91cc\u786c\u7f16\u7801\u8def\u5f84&#xff0c;\u7ed5\u8fc7\u4e86 Catkin \u7684\u4f9d\u8d56\u673a\u5236&#xff0c;\u5bfc\u81f4\u4f9d\u8d56\u987a\u5e8f\u4e0d\u6b63\u786e\u3002<\/li>\n<\/ul>\n<\/li>\n<li>\n<p>\u6d88\u606f\u5b9a\u4e49&#xff08;.msg\/.srv&#xff09;\u4f9d\u8d56\u6ca1\u6709\u58f0\u660e<\/p>\n<ul>\n<li>\u751f\u6210\u6d88\u606f\u7684\u5305\u5982\u679c\u88ab\u4f7f\u7528\u65b9\u6ca1\u5728 package.xml \u548c CMakeLists.txt \u4e2d\u663e\u5f0f\u58f0\u660e message_generation \/ message_runtime \u76f8\u5173\u4f9d\u8d56&#xff0c;\u5c31\u4f1a\u51fa\u73b0\u9700\u8981\u591a\u7f16\u8bd1\u51e0\u6b21\u7684\u60c5\u51b5\u3002<\/li>\n<\/ul>\n<\/li>\n<hr \/>\n<h3>\u89e3\u51b3\u529e\u6cd5<\/h3>\n<h4>1. \u68c0\u67e5\u5e76\u8865\u5168\u4f9d\u8d56\u58f0\u660e<\/h4>\n<p>\u5728 package.xml \u4e2d&#xff1a;<\/p>\n<p><span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>build_depend<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>some_pkg<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>build_depend<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>exec_depend<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>some_pkg<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>exec_depend<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><\/p>\n<p>\u6216 ROS 1 \u63a8\u8350\u7684\u7b80\u5199&#xff1a;<\/p>\n<p><span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>depend<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>some_pkg<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>depend<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><\/p>\n<p>\u5728 CMakeLists.txt \u4e2d&#xff1a;<\/p>\n<p>find_package(catkin REQUIRED COMPONENTS<br \/>\n  roscpp<br \/>\n  rospy<br \/>\n  std_msgs<br \/>\n  some_pkg  # \u8981\u4f9d\u8d56\u7684\u5305<br \/>\n)<br \/>\ncatkin_package(<br \/>\n  CATKIN_DEPENDS roscpp rospy std_msgs some_pkg<br \/>\n)<\/p>\n<p>\u5982\u679c\u662f\u6d88\u606f\u7c7b\u578b&#xff08;msg\/srv\/action&#xff09;\u4f9d\u8d56\u522b\u7684\u5305\u91cc\u7684\u7c7b\u578b&#xff0c;\u8fd8\u9700\u8981&#xff1a;<\/p>\n<p>add_message_files(&#8230;)<br \/>\ngenerate_messages(<br \/>\n  DEPENDENCIES std_msgs some_pkg<br \/>\n)<\/p>\n<p>\u5e76\u5728 package.xml \u52a0\u4e0a&#xff1a;<\/p>\n<p><span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>build_depend<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>message_generation<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>build_depend<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>exec_depend<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>message_runtime<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>exec_depend<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>depend<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>std_msgs<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>depend<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>depend<\/span><span class=\"token punctuation\">&gt;<\/span><\/span>some_pkg<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>depend<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><\/p>\n<hr \/>\n<h4>2. \u7528 catkin build &#8211;summarize &#8211;interleave-output \u68c0\u67e5\u4f9d\u8d56\u62d3\u6251<\/h4>\n<p>catkin build \u4f1a\u544a\u8bc9\u4f60\u54ea\u4e9b\u5305\u5931\u8d25&#xff0c;\u662f\u56e0\u4e3a\u7f3a\u5c11\u5934\u6587\u4ef6\/\u5e93&#xff0c;\u8fd9\u5f80\u5f80\u5c31\u662f\u4f9d\u8d56\u6ca1\u58f0\u660e\u3002<\/p>\n<hr \/>\n<h4>3. \u5148\u6784\u5efa\u6d88\u606f\u4f9d\u8d56\u7684\u5305&#xff08;\u5206\u6b65\u7f16\u8bd1&#xff09;<\/h4>\n<p>\u5982\u679c\u4f60\u4e00\u65f6\u6ca1\u6cd5\u6539\u6240\u6709\u4f9d\u8d56\u58f0\u660e&#xff0c;\u53ef\u4ee5\u5148\u6784\u5efa\u6d88\u606f\/\u6838\u5fc3\u4f9d\u8d56\u7684\u5305&#xff1a;<\/p>\n<p>catkin build msgs_pkg1 msgs_pkg2<br \/>\ncatkin build<\/p>\n<p>\u4f46\u8fd9\u662f\u4e34\u65f6\u89e3\u51b3\u65b9\u6cd5&#xff0c;\u4ece\u957f\u8fdc\u770b\u8fd8\u662f\u8981\u4fee\u6b63\u4f9d\u8d56\u3002<\/p>\n<hr \/>\n<h4>4. \u6e05\u7406\u518d\u5168\u91cf\u6784\u5efa<\/h4>\n<p>\u6709\u65f6\u4e4b\u524d\u7684\u6b8b\u7559\u4f1a\u5e72\u6270\u4f9d\u8d56\u5224\u65ad&#xff1a;<\/p>\n<p>catkin clean<br \/>\ncatkin build<\/p>\n<hr \/>\n<h4>5. \u786e\u8ba4\u4e0d\u8981\u7528 catkin_make \u4e0e catkin build \u6df7\u7528<\/h4>\n<p>catkin_make \u548c catkin build \u7684\u6784\u5efa\u7f13\u5b58 \/ \u76ee\u5f55\u7ed3\u6784\u4e0d\u540c&#xff0c;\u6df7\u7528\u53ef\u80fd\u5bfc\u81f4\u5947\u602a\u7684\u987a\u5e8f\u95ee\u9898\u3002<\/p>\n<hr \/>\n<p>\u2705 \u6700\u6839\u672c\u7684\u529e\u6cd5&#xff1a; \u8865\u5168 package.xml \u548c CMakeLists.txt \u4e2d\u7684\u4f9d\u8d56\u58f0\u660e&#xff0c;\u4f7f\u5f97 Catkin \u80fd\u5728\u4e00\u6b21\u7f16\u8bd1\u4e2d\u89e3\u6790\u5b8c\u6574\u4f9d\u8d56\u5173\u7cfb\u3002<\/p>\n<hr \/>\n<p>\u5982\u679c\u5e0c\u671b\u8fdb\u4e00\u6b65\u4e86\u89e3find_package\u7684\u4f7f\u7528\u65b9\u6cd5\u548c\u7ec6\u8282&#xff0c;\u53ef\u4ee5\u53c2\u8003\u8fd9\u7bc7\u6587\u7ae0\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u6587\u7ae0\u6d4f\u89c8\u9605\u8bfb293\u6b21\uff0c\u70b9\u8d5e11\u6b21\uff0c\u6536\u85cf8\u6b21\u3002\u5728ROS\u7684catkin\u5de5\u4f5c\u7a7a\u95f4\u4e2d\uff0c\u5f53\u591a\u4e2a\u5305\u5b58\u5728\u4f9d\u8d56\u5173\u7cfb\u65f6\uff0c\u5e38\u89c1\u9996\u6b21\u7f16\u8bd1\u5931\u8d25\u95ee\u9898\u3002\u4e3b\u8981\u539f\u56e0\u662f\u4f9d\u8d56\u58f0\u660e\u4e0d\u5b8c\u6574\uff08package.xml\u6216CMakeLists.txt\u672a\u6b63\u786e\u58f0\u660ebuild_depend\/exec_depend\uff09\u3001\u6d88\u606f\u5b9a\u4e49\u4f9d\u8d56\u7f3a\u5931\u6216\u6df7\u5408\u4f7f\u7528find_package()\u4e0e\u624b\u52a8\u8def\u5f84\u3002\u89e3\u51b3\u65b9\u6cd5\u5305\u62ec\uff1a1)\u8865\u5168\u6240\u6709\u4f9d\u8d56\u58f0\u660e\uff1b2)\u4f7f\u7528catkin build &#8211;summarize\u68c0\u67e5\u4f9d\u8d56\uff1b3)\u5206\u6b65\u7f16\u8bd1\u6838\u5fc3\u4f9d\u8d56\u5305\uff1b4)\u6e05\u7406\u540e\u5168\u91cf\u91cd\u5efa\uff1b5)\u907f\u514d\u6df7\u7528catkin_make\u548ccatkin build\u3002\u6839\u672c\u89e3\u51b3\u65b9\u6cd5\u662f\u786e\u4fdd<\/p>\n","protected":false},"author":2,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[5524,1966],"topic":[],"class_list":["post-54288","post","type-post","status-publish","format-standard","hentry","category-server","tag-catkin","tag-ros"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v20.3 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>\u89e3\u51b3ROS\u7f16\u8bd1\u987a\u5e8f\u4e0d\u5bf9\uff0c\u9700\u8981\u5185\u90e8\u4f9d\u8d56\uff0c\u56e0\u6b64\u8981\u591a\u6b21\u7f16\u8bd1\u7684\u95ee\u9898 - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/www.wsisp.com\/helps\/54288.html\" \/>\n<meta property=\"og:locale\" content=\"zh_CN\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"\u89e3\u51b3ROS\u7f16\u8bd1\u987a\u5e8f\u4e0d\u5bf9\uff0c\u9700\u8981\u5185\u90e8\u4f9d\u8d56\uff0c\u56e0\u6b64\u8981\u591a\u6b21\u7f16\u8bd1\u7684\u95ee\u9898 - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3\" \/>\n<meta property=\"og:description\" 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