1.創(chuàng)建工作空間：
yyw@yyw-vpc:~ cd catkin_ws/
yyw@yyw-vpc:~/catkin_ws cd src/
yyw@yyw-vpc:~/catkin_ws/src$ catkin_init_workspace
2.創(chuàng)建功能包：包名是test_pkg埃碱，依賴庫：roscpp rospy std_msgs
yyw@yyw-vpc:~/catkin_ws/src catkin_make install（生成install文件）
3.將代碼放到/catkin_ws/src/learning_topic/src目錄下猖辫；
4.同時在/catkin_ws/src/learning_topic/CMakeLists.txt中添加如下內(nèi)容：
add_executable(velocity_publisher src/velocity_publisher.cpp)
target_link_libraries(velocity_publisher ${catkin_LIBRARIES})
5.編譯工程
yyw@yyw-vpc:~/catkin_ws$ catkin_make
6.添加環(huán)境變量，讓ROS系統(tǒng)找到相應(yīng)文件（可以直接在home路徑下的.bashrc添加環(huán)境變量路徑：/home/yyw/catkin_ws/devel/setup.bash ,使用control+H顯示隱藏文件）
yyw@yyw-vpc:~/catkin_ws echo $ROS_PACKAGE_PATH
/home/yyw/catkin_ws/src:/opt/ros/melodic/share
