原文鏈接:http://www.cnblogs.com/cv-pr/p/4835635.html
catkin命令創建工作空間和包相對要復雜些，但是熟悉以后對項目的管理是非常有利的，因此官方也建議使用第二種方式。
2.1、創建工作空間
在開始具體工作之前，首先創建工作空間，并且為工作空間設置環境變量到~/.bashrc中，如果要查看已有的空間路徑，可以用查詢命令
$echo $ROS_PACKAGE_PATH
你將會看到如下的信息：
/home/horsetail/dev/rosbook:/home/horsetail/catkin_ws/src:/opt/ros/jade/share:/opt/ros/jade/stacks
這里的創建空間實際上就是先建立一個文件夾，然后把文件夾的路徑設置到環境變量~/.bashrc中。例如我們這里創建目錄~/dev/rosbook作為工作空間，和第一種方法類似。
下面我們開始創建一個catkin 工作空間：
$mkdir-p ~/catkin_ws/src
$ cd~/catkin_ws/src
即使這個工作空間是空的（在'src'目錄中沒有任何軟件包，只有一個CMakeLists.txt鏈接文件），你依然可以“build”它：
$ cd ~/catkin_ws/
$ catkin_make
接下來首先source一下新生成的setup.*sh文件，把它加入環境變量到~/.bashrc文件中：
$ source ~/catkin_ws/devel/setup.bash
到此你的工作空間環境已經搭建完成
2.2、創建包
首先切換到之前創建的catkin工作空間中的src目錄下：
$ cd~/catkin_ws/src
現在使用catkin_create_pkg命令來創建一個名為'mypackage1'的新程序包，這個程序包依賴于std_msgs、roscpp和rospy：
$ catkin_create_pkg mypackage1 std_msgs rospy roscpp
這將會創建一個名為beginner_tutorials的文件夾，這個文件夾里面包含一個package.xml文件和一個CMakeLists.txt文件，這兩個文件都已經自動包含了部分你在執行catkin_create_pkg命令時提供的信息。
和第一種方法類似類似，把1.3節中的兩個talker.cpp和listener.cpp拷貝到mypackage1/src下。
接下來，要告訴編譯器如何去找到這兩個文件。你需要打開mypackage1/CMakeLists.txt，在文件的末尾添加命令：
include_directories(include ${catkin_INCLUDE_DIRS})
add_executable(talker src/talker.cpp)
target_link_libraries(talker ${catkin_LIBRARIES})
add_executable(listener src/listener.cpp)
target_link_libraries(listener ${catkin_LIBRARIES})
整理后的mypackage/CMakeLists.txt內容結構如下：
cmake_minimum_required(VERSION2.8.3)project(mypackage1)## Find catkin and any catkin packagesfind_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs)## Declare ROS messages and services#add_message_files(FILES Num.msg)#默認是不注釋掉的，編譯會出錯#add_service_files(FILES AddTwoInts.srv)#默認是不注釋掉的，編譯會出錯## Generate added messages and services#generate_messages(DEPENDENCIES std_msgs)#默認是不注釋掉的，編譯會出錯## Declare a catkin packagecatkin_package()## Build talker and listenerinclude_directories(include ${catkin_INCLUDE_DIRS})add_executable(talker src/talker.cpp)
target_link_libraries(talker ${catkin_LIBRARIES})
add_dependencies(talker beginner_tutorials_generate_messages_cpp)
add_executable(listener src/listener.cpp)
target_link_libraries(listener ${catkin_LIBRARIES})
add_dependencies(listener beginner_tutorials_generate_messages_cpp)
注意：CMakeLists.txt中的有三那個命令是保留的:
## Declare ROS messages and services
#add_message_files(FILES Num.msg)
#add_service_files(FILES AddTwoInts.srv)
## Generate added messages and services
#generate_messages(DEPENDENCIES std_msgs)
這是關于服務消息方面的，這個項目中并沒有用到，因此必須要注釋掉，否則編譯會出現錯誤如下：
Base path: /home/horsetail/catkin_ws
Source space:/home/horsetail/catkin_ws/src
Build space:/home/horsetail/catkin_ws/build
Devel space:/home/horsetail/catkin_ws/devel
Install space:/home/horsetail/catkin_ws/install####
#### Running command:"make cmake_check_build_system"in"/home/horsetail/catkin_ws/build"####-- Using CATKIN_DEVEL_PREFIX: /home/horsetail/catkin_ws/devel-- Using CMAKE_PREFIX_PATH: /home/horsetail/catkin_ws/devel;/opt/ros/jade-- This workspace overlays: /home/horsetail/catkin_ws/devel;/opt/ros/jade-- Using PYTHON_EXECUTABLE: /usr/bin/python--Using Debian Python package layout-- Using empy: /usr/bin/empy--Using CATKIN_ENABLE_TESTING: ON--Call enable_testing()-- Using CATKIN_TEST_RESULTS_DIR: /home/horsetail/catkin_ws/build/test_results-- Found gtest sources under'/usr/src/gtest': gtests will be built-- Using Python nosetests: /usr/bin/nosetests-2.7-- catkin0.6.14--BUILD_SHARED_LIBS is on-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~-- ~~? traversing1packagesintopological order:-- ~~? -mypackage1-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~-- +++ processing catkin package:'mypackage1'-- ==>add_subdirectory(mypackage1)
CMake Error at mypackage1/CMakeLists.txt:8(add_message_files):
Unknown CMake command"add_message_files".-- Configuring incomplete, errors occurred!See also"/home/horsetail/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also"/home/horsetail/catkin_ws/build/CMakeFiles/CMakeError.log".make: *** [cmake_check_build_system] 錯誤1
這個錯誤也折騰了我一陣子，以此銘記之。
好了，接下來就是編譯它了。
2.3、編譯
catkin_make是一個命令行工具，它簡化了catkin的標準工作流程。你可以認為catkin_make是在CMake標準工作流程中依次調用了cmake和make。
使用方法:
# 在catkin工作空間下
$ catkin_make [make_targets] [-DCMAKE_VARIABLES=...]
記得事先source你的環境配置(setup)文件，在Ubuntu中的操作指令如下：
$ source /opt/ros/indigo/setup.bash
切換到catkin workspace ：
$ cd ~/catkin_ws/
執行編譯:
$ catkin_make
輸出如下編譯信息：
Base path: /home/horsetail/catkin_ws
Source space:/home/horsetail/catkin_ws/src
Build space:/home/horsetail/catkin_ws/build
Devel space:/home/horsetail/catkin_ws/devel
Install space:/home/horsetail/catkin_ws/install####
#### Running command:"make cmake_check_build_system"in"/home/horsetail/catkin_ws/build"####-- Using CATKIN_DEVEL_PREFIX: /home/horsetail/catkin_ws/devel-- Using CMAKE_PREFIX_PATH: /home/horsetail/catkin_ws/devel;/opt/ros/jade-- This workspace overlays: /home/horsetail/catkin_ws/devel;/opt/ros/jade-- Using PYTHON_EXECUTABLE: /usr/bin/python--Using Debian Python package layout-- Using empy: /usr/bin/empy--Using CATKIN_ENABLE_TESTING: ON--Call enable_testing()-- Using CATKIN_TEST_RESULTS_DIR: /home/horsetail/catkin_ws/build/test_results-- Found gtest sources under'/usr/src/gtest': gtests will be built-- Using Python nosetests: /usr/bin/nosetests-2.7-- catkin0.6.14--BUILD_SHARED_LIBS is on-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~-- ~~? traversing1packagesintopological order:-- ~~? -mypackage1-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~-- +++ processing catkin package:'mypackage1'-- ==>add_subdirectory(mypackage1)-- Configuringdone-- Generatingdone-- Build files have been written to: /home/horsetail/catkin_ws/build
####
#### Running command:"make -j4 -l4"in"/home/horsetail/catkin_ws/build"####
Scanning dependencies of target talker
Scanning dependencies of target listener
[50%] Building CXXobjectmypackage1/CMakeFiles/listener.dir/src/listener.cpp.o
[100%] Building CXXobjectmypackage1/CMakeFiles/talker.dir/src/talker.cpp.o
Linking CXX executable/home/horsetail/catkin_ws/devel/lib/mypackage1/talker
[100%] Built target talker
Linking CXX executable/home/horsetail/catkin_ws/devel/lib/mypackage1/listener
[100%] Built target listener
恭喜編譯成功了，接下來可以嘗下先。
2.4、運行
運行的步驟和1.3是一樣的，請參閱1.3的詳細描述。因為按照兩種方法編譯了兩個相同的包名和節點，因此在啟動時會提示選擇哪一個節點進行運行，按照提示選擇即可。
2.5、源碼
最后，附上源碼：catkin_ws.tar.gz
