使用catkin_create_pkg命令来创建一个新的catkin程序包。
首先切换到之前通过创建catkin工作空间教程创建的catkin工作空间中的src目录下：
~/ros_workspace$ cd src接着使用catkin_create_pkg命令来创建一个名为’beginner_tutorials’的新程序包，这个程序包依赖于std_msgs、roscpp和rospy：
~/ros_workspace/src$ catkin_create_pkg my_demo roscpp rospy std_msgs创建成功后，提示如下：
Created file my_demo/package.xml
Created file my_demo/CMakeLists.txt
Created folder my_demo/include/my_demo
Created folder my_demo/src
Successfully created files in /home/nic/ros_workspace/src/my_demo. Please adjust the values in package.xml.这将会创建一个名为my_demo的文件夹，这个文件夹里面包含一个package.xml文件和一个CMakeLists.txt文件，这两个文件都已经自动包含了部分你在执行catkin_create_pkg命令时提供的信息。
catkin_create_pkg命令会要求你输入package_name，如果有需要你还可以在后面添加一些需要依赖的其它程序包：
# This is an example, do not try to run this
# catkin_create_pkg <package_name> [depend1] [depend2] [depend3]catkin_create_pkg命令也有更多的高级功能，这些功能在catkin/commands/catkin_create_pkg中有描述。
采用CLion开发环境进行编译
CLion的安装及破解请参照此文
~/ros_workspace/src/my_demo/src$ gedit my_demo.cpp将一下示例代码复制到my_demo.cpp中：
/*
* Copyright (C) 2008, Morgan Quigley and Willow Garage, Inc.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
* * Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
// %Tag(FULLTEXT)%
// %Tag(ROS_HEADER)%
#include "ros/ros.h"
// %EndTag(ROS_HEADER)%
// %Tag(MSG_HEADER)%
#include "std_msgs/String.h"
// %EndTag(MSG_HEADER)%
#include <sstream>
/**
* This tutorial demonstrates simple sending of messages over the ROS system.
*/
int main(int argc, char **argv)
{
/**
* The ros::init() function needs to see argc and argv so that it can perform
* any ROS arguments and name remapping that were provided at the command line.
* For programmatic remappings you can use a different version of init() which takes
* remappings directly, but for most command-line programs, passing argc and argv is
* the easiest way to do it. The third argument to init() is the name of the node.
*
* You must call one of the versions of ros::init() before using any other
* part of the ROS system.
*/
// %Tag(INIT)%
ros::init(argc, argv, "talker");
// %EndTag(INIT)%
/**
* NodeHandle is the main access point to communications with the ROS system.
* The first NodeHandle constructed will fully initialize this node, and the last
* NodeHandle destructed will close down the node.
*/
// %Tag(NODEHANDLE)%
ros::NodeHandle n;
// %EndTag(NODEHANDLE)%
/**
* The advertise() function is how you tell ROS that you want to
* publish on a given topic name. This invokes a call to the ROS
* master node, which keeps a registry of who is publishing and who
* is subscribing. After this advertise() call is made, the master
* node will notify anyone who is trying to subscribe to this topic name,
* and they will in turn negotiate a peer-to-peer connection with this
* node. advertise() returns a Publisher object which allows you to
* publish messages on that topic through a call to publish(). Once
* all copies of the returned Publisher object are destroyed, the topic
* will be automatically unadvertised.
*
* The second parameter to advertise() is the size of the message queue
* used for publishing messages. If messages are published more quickly
* than we can send them, the number here specifies how many messages to
* buffer up before throwing some away.
*/
// %Tag(PUBLISHER)%
ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
// %EndTag(PUBLISHER)%
// %Tag(LOOP_RATE)%
ros::Rate loop_rate(10);
// %EndTag(LOOP_RATE)%
/**
* A count of how many messages we have sent. This is used to create
* a unique string for each message.
*/
// %Tag(ROS_OK)%
int count = 0;
while (ros::ok())
{
// %EndTag(ROS_OK)%
/**
* This is a message object. You stuff it with data, and then publish it.
*/
// %Tag(FILL_MESSAGE)%
std_msgs::String msg;
std::stringstream ss;
ss << "hello world " << count;
msg.data = ss.str();
// %EndTag(FILL_MESSAGE)%
// %Tag(ROSCONSOLE)%
ROS_INFO("%s", msg.data.c_str());
// %EndTag(ROSCONSOLE)%
/**
* The publish() function is how you send messages. The parameter
* is the message object. The type of this object must agree with the type
* given as a template parameter to the advertise<>() call, as was done
* in the constructor above.
*/
// %Tag(PUBLISH)%
chatter_pub.publish(msg);
// %EndTag(PUBLISH)%
// %Tag(SPINONCE)%
ros::spinOnce();
// %EndTag(SPINONCE)%
// %Tag(RATE_SLEEP)%
loop_rate.sleep();
// %EndTag(RATE_SLEEP)%
++count;
}
return 0;
}
// %EndTag(FULLTEXT)%进入CLion快捷方式所在的目录：
~$ cd /usr/share/applications打开并编辑快捷方式：
/usr/share/applications$ sudo gedit jetbrains-clion.desktop按照如下所示修改：
Exec=bash -i -c "/opt/clion-2018.1.6/bin/clion.sh" %f重新注销系统使之生效。
运行CLion，打开功能包下的CMakeList.txt文件，并作为工程打开，如图：
打开功能包工程如图，编辑CMakeList.txt文件：
add_executable(my_demo src/my_demo.cpp)
target_link_libraries(my_demo ${catkin_LIBRARIES})点击调试按钮，提示如下：
打开新的终端，输入：
~$ roscore在CLion环境中，显示如下：
新建一个终端查看执行结果：
如果采用标准版的QtCreator进行编译，请按以下步骤进行：
查找QtCreator的快捷方式
修改QtCreator的快捷方式
在Exec=处加上 bash -i -c
重启QtCreator。
