orocos 建立自己的模块，编译，测试

最新推荐文章于 2023-04-20 12:02:57 发布

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最新推荐文章于 2023-04-20 12:02:57 发布 · 882 阅读

4 ·

CC 4.0 BY-SA版权

1建立模块

 zz@ubuntu:~/orocos/myrobot$ orocreate-pkg myrobot component

2将模块路径加入包环境

zz@ubuntu:~/orocos/myrobot$ export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:/home/zz/orocos/myrobot

3编译模块

# Standard build (installs in the same directory as Orocos Toolchain):
  $ mkdir build ; cd build
  $ cmake .. -DCMAKE_INSTALL_PREFIX=orocos
  $ make install
# OR: ROS build:
  $ make

4 模块路径加入可加载路径中：

zz@ubuntu:~/orocos/myrobot$ export RTT_COMPONENT_PATH=$RTT_COMPONENT_PATH:/home/zz/orocos/myrobot/build/orocos/lib/orocos

5运行模块

$ deployer-gnulinux
   Switched to : Deployer
 
  This console reader allows you to browse and manipulate TaskContexts.
  You can type in an operation, expression, create or change variables.
  (type 'help' for instructions and 'ls