Creating a catkin Package

# catkin_create_pkg 
     
       [depend1] [depend2] [depend3]$ catkin_create_pkg beginner_tutorials std_msgs rospy roscpp
     

Building a catkin workspace and sourcing the setup file

$ cd ~/catkin_ws$ catkin_make#To add the workspace to your ROS environment you need to source the generated setup file$ . ~/catkin_ws/devel/setup.bash

First-order dependencies

$ rospack depends1 beginner_tutorials   #查看功能包‘beginner_tutorials’的一阶依赖关系#一个功能包的依赖关系都存储在‘package.xml’文件中$ roscd beginner_tutorials   #进到功能包目录下$ cat package.xml                #打开且编写文件'package.xml'

Indirect dependencies

$ rospack depends1 rospy　　　　　#很多情况下，依赖项也有自己的依赖项，查看'rospy'的依赖项　　　　　$ rospack depends beginner_tutorials    #可以递归地确定所有的依赖性

Using  to build a catkin workspace