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Creating a workspace for catkin

Description: This tutorial covers how to setup a catkin workspace in which one or more catkin packages can be built.

Keywords: catkin workspace

Tutorial Level: BEGINNER

Next Tutorial: Creating catkin packages

Contents

  1. Prerequisites

Prerequisites

This tutorial assumes that you have installed catkin and sourced your environment. If you installed catkin via apt-get for ROS Inidgo, your command would look like this:

$ source /opt/ros/indigo/setup.bash

Let's create a catkin workspace:

$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src
$ catkin_init_workspace

Even though the workspace is empty (there are no packages in the 'src' folder, just a single CMakeLists.txt link) you can still "build" the workspace:

$ cd ~/catkin_ws/
$ catkin_make

The catkin_make command is a convenience tool for working with catkin workspaces. If you look in your current directory you should now have a 'build' and 'devel' folder. Inside the 'devel' folder you can see that there are now several setup.*sh files. Sourcing any of these files will overlay this workspace on top of your environment. To understand more about this see the general catkin documentation: catkin. Before continuing source your new setup.*sh file:

$ source devel/setup.bash

To make sure your workspace is properly overlayed by the setup script, make sure ROS_PACKAGE_PATH environment variable includes the directory you're in.

$ echo $ROS_PACKAGE_PATH
/home/youruser/catkin_ws/src:/opt/ros/kinetic/share:/opt/ros/kinetic/stacks

Next you should go ahead and learn how to use the workspace.

If you are following the ROS tutorials series instead of the catkin tutorials, please continue with Creating a ROS Package.

Wiki: catkin/Tutorials/create_a_workspace (last edited 2015-05-20 22:07:47 by DirkThomas)