1、ROS功能包的目錄下不能有中文

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2、

WorkSpace --- 自定義的工作空間|--- build:編譯空間，用于存放CMake和catkin的緩存信息、配置信息和其他中間文件。|--- devel:開發(fā)空間，用于存放編譯后生成的目標(biāo)文件，包括頭文件、動(dòng)態(tài)&靜態(tài)鏈接庫、可執(zhí)行文件等。|--- src: 源碼|-- package：功能包(ROS基本單元)包含多個(gè)節(jié)點(diǎn)、庫與配置文件，包名所有字母小寫，只能由字母、數(shù)字與下劃線組成|-- CMakeLists.txt 配置編譯規(guī)則，比如源文件、依賴項(xiàng)、目標(biāo)文件|-- package.xml 包信息，比如:包名、版本、作者、依賴項(xiàng)...(以前版本是 manifest.xml)|-- scripts 存儲(chǔ)python文件|-- src 存儲(chǔ)C++源文件|-- include 頭文件|-- msg 消息通信格式文件（話題通信，發(fā)送方---訂閱方）|-- srv 服務(wù)通信格式文件（服務(wù)通信，服務(wù)端，客戶端）|-- action 動(dòng)作格式文件|-- launch 可一次性運(yùn)行多個(gè)節(jié)點(diǎn) （launch文件）|-- config 配置信息|-- CMakeLists.txt: 編譯的基本配置

devel目錄下：

include：存放C++編譯生成的頭文件，my_mag和my_msg2是自己創(chuàng)建的兩個(gè)功能包
lib：存放C++生成的可執(zhí)行文件，Python對(duì)應(yīng)的依賴和可執(zhí)行文件。
??my_msg是自己創(chuàng)建的功能包名稱，里面存放C++的可執(zhí)行文件
??python2.7里面存放python相關(guān)的文件，包括依賴項(xiàng)等。

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3、catkin_make編譯流程

首先去搜索src里面的每個(gè)功能包中是否有package.xml文件，如果有的話，就去執(zhí)行該目錄下的CMakeList.txt文件

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4、ros搜索功能包的路徑

在主目錄下運(yùn)行 gedit .bashrc

可見在執(zhí)行source .bashrc的時(shí)候，會(huì)執(zhí)行 /opt/ros/melodic/setup.bash，庫的搜索路徑為 /opt/ros/melodic目錄下。
下面的ros_extern_package是自己創(chuàng)建的用來存放額外的功能包的目錄

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5、VScode中相關(guān)配置

c_cpp_properties.json
主要是設(shè)置C++程序庫的搜索路徑

{"configurations": [{"browse": {"databaseFilename": "","limitSymbolsToIncludedHeaders": true},"includePath": ["/home/dk/ros_extern_package/devel/include/**","/opt/ros/melodic/include/**","/home/dk/ros_extern_package/src/vision_opencv/cv_bridge/include/**","/home/dk/ros_extern_package/src/ddynamic_reconfigure/include/**","/home/dk/ros_extern_package/src/eigen_stl_containers/include/**","/home/dk/ros_extern_package/src/vision_opencv/image_geometry/include/**","/home/dk/ros_test/src/my_msg/include/**","/home/dk/ros_extern_package/src/realsense-ros/realsense2_camera/include/**","/home/dk/ros_extern_package/src/geometry2/tf2/include/**","/home/dk/ros_extern_package/src/geometry2/tf2_bullet/include/**","/home/dk/ros_extern_package/src/geometry2/tf2_eigen/include/**","/home/dk/ros_extern_package/src/geometry2/tf2_geometry_msgs/include/**","/home/dk/ros_extern_package/src/geometry2/tf2_kdl/include/**","/home/dk/ros_extern_package/src/geometry2/tf2_msgs/include/**","/home/dk/ros_extern_package/src/geometry2/tf2_ros/include/**","/home/dk/ros_extern_package/src/geometry2/tf2_sensor_msgs/include/**","/home/dk/ros_extern_package/src/usb_cam/include/**","/usr/include/**","/home/dk/ros_test/devel/include/**"],"name": "ROS","cppStandard": "c++17"}],"version": 4

launch.json
args參數(shù)可以進(jìn)行設(shè)置
setting.json
可以設(shè)置python中import的搜索路徑，字體大小，行間距等參數(shù)

{"python.autoComplete.extraPaths": ["/home/dk/ros_extern_package/devel/lib/python2.7/dist-packages","/opt/ros/melodic/lib/python2.7/dist-packages","/home/dk/ros_test/devel/lib/python2.7/dist-packages"],"python.analysis.extraPaths": ["/home/dk/ros_extern_package/devel/lib/python2.7/dist-packages","/opt/ros/melodic/lib/python2.7/dist-packages","/home/dk/ros_test/devel/lib/python2.7/dist-packages"],"editor.fontSize":18,"window.zoomLevel":0.8,"editor.lineHeight": 27,"python.pythonPath": "/usr/bin/python"
}

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