You're reading from Mastering ROS for Robotics Programming, Third edition - Third Edition

Product typeBook

Published inOct 2021

PublisherPackt

ISBN-139781801071024

Edition3rd Edition

Tools

Robot Framework Robot Framework

Concepts

Robotics

Authors (2):

Lentin Joseph

Jonathan Cacace

View More author details

Creating a ROS package

ROS packages are the basic units of ROS programs. We can create a ROS package, build it, and release it to the public. The current distribution of ROS we are using is Noetic Ninjemys. We are using the catkin build system to build ROS packages. A build system is responsible for generating targets (executable/libraries) from textual source code that can be used by end users. In older distributions, such as Electric and Fuerte, rosbuild was the build system. Because of the various flaws of rosbuild, catkin came into existence. This also allowed us to move the ROS compilation system closer to Cross Platform Make (CMake). This has a lot of advantages, such as porting the package to another OS, such as Windows. If an OS supports CMake and Python, catkin-based packages can be ported to it.

The first requirement for working with ROS packages is to create a ROS catkin workspace. After installing ROS, we can create and build a catkinworkspace called catkin_ws:

mkdir...

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Mastering ROS for Robotics Programming, Third edition - Third Edition

Published in: Oct 2021Publisher: PacktISBN-13: 9781801071024

Authors (2)

Lentin Joseph

Lentin Joseph is an author and robotics entrepreneur from India. He runs a robotics software company called Qbotics Labs in India. He has 7 years of experience in the robotics domain primarily in ROS, OpenCV, and PCL. He has authored four books in ROS, namely, Learning Robotics using Python, Mastering ROS for Robotics Programming, ROS Robotics Projects, and Robot Operating System for Absolute Beginners. He is currently pursuing his master's in Robotics from India and is also doing research at Robotics Institute, CMU, USA.
Read more about Lentin Joseph

Jonathan Cacace

Jonathan Cacace was born in Naples, Italy, on December 13, 1987. He received his Master's degree in computer science, and a Ph.D. degree in Information and Automation Engineering, from the University of Naples Federico II. Currently, he is an Assistant Professor at the University of Naples Federico II. He is also a member of PRISMA Lab where he is involved in different research projects focused on industrial and service robotics in which he has developed several ROS-based applications integrating robot perception and control.
Read more about Jonathan Cacace

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