[ROS] Catkin_workspace setting

1. ROS 작업공간 만들기 

$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src
$ catkin_init_workspace

 

2. ROS 작업공간 - 빌드하기 

$ cd ~/catkin_ws/
$ catkin_make

$ source devel/setup.bash

 

3. 기타 셋팅 

$ sudoapt install ros-melodic-joint-state-publisher-gui

 

Gazebo 9.12 for Melodic (Gazebo 7.x for Kinetic)

 

Dependencies you may need

$ sudo apt install ros-melodic-gazebo-ros-control

$ sudo apt install ros-melodic-gazebo-msgs

$ sudo apt install ros-melodic-gazebo-plugins

$ sudo apt install ros-melodic-ros-controllers

 

$ sudoapt install ros-melodic-moveit

 

You may need other plugins and packages for MoveIt e.g.

$ sudoapt install ros-melodic-trac-ik-kinematics-plugin

 

•Update rosdep

$ rosdep update

 

CheckROS dependencies•From the root of your catkin workspace run•

$ rosdep check--from-paths . --ignore-src--rosdistromelodic•InstallROS dependencies•

$ rosdep install--from-paths . --ignore-src--rosdistromelodic•Add -yto automatically say yes to everythingduring install•

$ rosdep install--from-paths . --ignore-src--rosdistromelodic -y

 

3. 패키지 만들기 

$ catkin_create_pkg