ROS：Quick Start （1）从零开始，发布话题消息

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平台：WHEELTEC ROS机器人

• 定义一些自己的变量

export pkg_name=learning_communication
export work_dir=~/test/ #替换为自己定义的目录，可以选用~
export editor=code #使用VSCode进行编辑

• 初始化工作空间

mkdir -p ${work_dir}/catkin_ws/src
cd ${work_dir}/catkin_ws/src
catkin_init_workspace
cd ${work_dir}/catkin_ws/
catkin_make
echo "source ${work_dir}/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

• 创建功能包

cd ${work_dir}/catkin_ws/src/
catkin_create_pkg ${pkg_name} std_msgs roscpp rospy
cd ${work_dir}/catkin_ws
catkin_make

• 编写发布代码（TODO: 注释待更新）

cd ${work_dir}/catkin_ws/src/learning_communication/src
${editor} talker.cpp
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