create_ros_package.md

Create basic ROS packages

We need to create following packages in the catkin workspace directory

• mobile_robot
• mobile_robot_base
• mobile_robot_description
• mobile_robot_simulation
• mobile_robot_work

We will start assuming you dont have any project yet in ROS

Step 1

Go to your catkin workspace

mkdir catkin_ws
cd ~/catkin_ws/

Note : cd command is for changing the directory(change/goto a folder). mkdir command is for creating a new folder/directory, i.e. catkin_ws.

Step 2

Initialize the workspace

mkdir src
cd src
catkin_init_workspace

Step 3

Create packages

catkin_create_pkg mobile_robot_base rospy rviz geometry_msgs std_msgs sensor_msgs

catkin_create_pkg mobile_robot_description tf xacro urdf joint_state_publisher robot_state_publisher

catkin_create_pkg mobile_robot_simulation gazebo_ros

Step 4

Create root package

catkin_create_pkg mobile_robot mobile_robot_base mobile_robot_description mobile_robot_simulation

Step 5

Compile for the first time

go back to catkin_ws directory by running

cd ..

Now if you run pwd in the terminal, you should get an output like, /home/<USERNAME>/catkin_ws

Here, run the following,

catkin_make

source devel/setup.bash