turtlebot2-tutorials

Catkin Workspace

Catkin is a CMAKE-based build system used to build ROS packages.

Catkin Setup

We will be setting up a Catkin Workspace on BOTH the Turtlebot and Master computers using the following steps.

1. Open a new terminal and create your catkin workspace
   1. Create a new directory in your home folder:
      • mkdir -p ~/catkin_ws/src
   2. CD to that directory:
      • cd ~/catkin_ws/src
   3. Initialize the workspace:
      • catkin_init_workspace
   4. Build the empty catkin workspace
      • cd ~/catkin_ws
      • catkin_make
   5. Source the setup.sh file to load the environment setup
      • source ~/catkin_ws/devel/setup.sh
2. Create a new catkin package called turtlebot_dabit
   1. CD to your catkin_ws src directory:
      • cd ~/catkin_ws/src
   2. Create a new catkin package:
      • catkin_create_pkg turtlebot_dabit
   3. CD into the new package:
      • cd turtlebot_dabit
   4. Make some directories for future use
      • mkdir launch
      • mkdir scripts
      • mkdir src

What’s Next?

Building ROSPY with your Catkin Package
Building ROSCPP with your Catkin Package

Catkin Tips

• You can create a new package and declare its dependencies at the same time:
  • catkin_create_pkg turtlebot_dabit roscpp
• You can build outside of the working directly by specifying --directory /path/to/catkin/ws:
  • catkin_make --directory ~/catkin_ws
• You can specify which packages to build using the --pkg argument:
  • catkin_make --pkg turtlebot_dabit

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