JETSON TK1 ～基于eclipse下开发ROS

此文档是在PC端开发后移植到TK1，并非在TK1上安装eclipse

一：安装eclipse

1、下载eclipse安装包： eclipse

2、下载JDK安装包： JDK

3、按照下面步骤执行

1）把下载的文件移动到opt目录下

sudo mv eclipse-SDK-4.2.1-linux-gtk.tar.gz /opt/

2）解压安装包

cd /opt/
sudo tar xzvf eclipse-SDK-4.2.1-linux-gtk.tar.gz

3）在/usr/share/applications目录创建桌面快捷方式文件

sudo gedit /usr/share/applications/eclipse.desktop

4）在文件中填入如下内容

[Desktop Entry]
Name=Eclipse
Type=Application
Exec=bash -i -c "/opt/eclipse/eclipse"
Terminal=false
Icon=/opt/eclipse/icon.xpm
Comment=Integrated Development Environment
NoDisplay=false
Categories=Development;IDE
Name[en]=eclipse.desktop

5）将/usr/share/applications/下的 eclipse.desktop拖拽（或使用指令复制）到桌面。

4、安装Jre到eclipse目录

1）解压下载的JDK

sudo tar xzvf jdk-8u131-linux-x64.tar.gz

2）进入解压后目录 jdk1.8.0_131 复制jre到eclipse目录下

cd jdk1.8.0_131/
sudo cp -r jre/ /opt/eclipse

5、双击桌面图标即可启动eclipse

二：生成eclipse项目文件

1、创建工作空间，终端中按下面步骤执行

mkdir -p catkin_ws/src

cd catkin_ws/src

catkin_init_workspace

cd catkin_ws

catkin_make

2、创建一个程序包

cd catkin_ws/src
catkin_create_pkg first_pkg std_msgs rospy roscpp

3、到catkin的工作空间，利用catkin_make命令，建立一个eclipse的项目

cd catkin_ws
catkin_make --force-cmake -G"Eclipse CDT4 - Unix Makefiles"

项目的文件声称在目录 catkin_ws/build里

三：在eclipse导入项目

1、启动eclipse，选择catkin_ws作为工作空间

2、选择File --> Import --> General --> Existing Projects into Workspace

3、从文件夹~/catkin_ws/build中导入项目

4、点击Finish 后把工程导入eclipse中，文件结构如下图

四：配置eclipse工作环境

1、添加预编译头文件的路径

–到 Project Properties --> C/C++ General --> Preprocessor Include Paths, Macros, etc. --> Providers 选项卡

　–勾选CDT GCC Built-in Compiler Settings [Shared]

2、添加项目文件

项目的源文件在文件夹 "Source directory"中，右键src选择NEW --> Source File, 创建文件 main.cpp

3、添加代码

双击main.cpp 复制如下代码

/*
 * main.cpp
 *
 *  Created on: 2017年5月25日
 *      Author: kopu
 */
#include "ros/ros.h"

int main(int argc, char **argv)
{
    ros::init(argc, argv, "hello");

    ros::NodeHandle nh;
    ros::Rate loop_rate(10);

    int count = 0;
    while (ros::ok()) // Keep spinning loop until user presses Ctrl+C
    {
        ROS_INFO_STREAM("hello world" << count);

        ros::spinOnce(); // Allow ROS to process incoming messages
        loop_rate.sleep(); // Sleep for the rest of the cycle
        count++;
    }
    return 0;
}

4、修改CMakeLists.txt文件

在编译前，需要在main.cpp文件目录下的CMakeLists.txt文件中添加新的编译内容（红色部分）

cmake_minimum_required(VERSION 2.8.3)
project(first_pkg)

## Add support for C++11, supported in ROS Kinetic and newer
# add_definitions(-std=c++11)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
)

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES first_pkg
#  CATKIN_DEPENDS roscpp rospy std_msgs
#  DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories(
  ${catkin_INCLUDE_DIRS}
)

## Declare a cpp executable
add_executable(RosProj src/main.cpp)

## Specify libraries to link a library or executable target against
target_link_libraries(RosProj ${catkin_LIBRARIES})

## Declare a C++ library
# add_library(${PROJECT_NAME}
#   src/${PROJECT_NAME}/first_pkg.cpp
# )

5、编译项目生成可执行文件

快捷键Ctrl-B，编译项目，在/home/kopu/sw_Proj/catkin_ws/devel/lib/first_pkg目录下会生成二进制文件RosProj

６：在eclipse中运行代码

创建新的启动配置，点击 Run --> Run configurations... --> C/C++ Application (double click or click on New)。

选择相应的二进制执行程序 (use the Browse… button)

确保roscore已经在终端中运行，点击Run，运行程序。

7：在eclipse中调试代码

为了调试，需要将编译器设置为调试模式，终端中，到catkin_ws/build目录执行如下代码：

cmake ../src -DCMAKE_BUILD_TYPE=Debug

重启Eclipse，这样就可以利用Eclipse的调试工具进行调试了，进入调试界面，如下图所示：

JETSON TK1 ～ 基于eclipse下开发ROS

JETSON TK1 ～基于eclipse下开发ROS