ROS1 建立專案空間 package node 範例說明

 下面以 ROS 1 (catkin，例：Noetic) 為準，給你最精簡、可直接照做的流程（Python 與 C++ 都含）：

0) 準備環境

# 開新終端，不要 source ROS 2
source /opt/ros/noetic/setup.bash

1) 建立 Workspace

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws
catkin_make          # 會自動初始化
# 之後每次開新殼，記得：
source ~/catkin_ws/devel/setup.bash

2) 建立 Package

cd ~/catkin_ws/src
catkin_create_pkg my_pkg roscpp rospy std_msgs
# 安裝相依（如需）
rosdep install -i --from-paths . -y

3A) Python 節點（rospy）

~/catkin_ws/src/my_pkg/scripts/talker.py

#!/usr/bin/env python3
import rospy
from std_msgs.msg import String

if __name__ == "__main__":
    rospy.init_node("talker_py")
    pub = rospy.Publisher("chatter", String, queue_size=10)
    rate = rospy.Rate(5)
    while not rospy.is_shutdown():
        pub.publish(String(data="hello ros1"))
        rate.sleep()

chmod +x ~/catkin_ws/src/my_pkg/scripts/talker.py

3B) C++ 節點（roscpp）

~/catkin_ws/src/my_pkg/src/talker.cpp

#include <ros/ros.h>
#include <std_msgs/String.h>

int main(int argc, char** argv){
  ros::init(argc, argv, "talker_cpp");
  ros::NodeHandle nh;
  ros::Publisher pub = nh.advertise<std_msgs::String>("chatter", 10);
  ros::Rate rate(5);
  while (ros::ok()){
    std_msgs::String msg; msg.data = "hello ros1";
    pub.publish(msg);
    rate.sleep();
  }
}

在 ~/catkin_ws/src/my_pkg/CMakeLists.txt 加：

add_executable(talker src/talker.cpp)
target_link_libraries(talker ${catkin_LIBRARIES})
add_dependencies(talker ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
install(TARGETS talker RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

4) 編譯

cd ~/catkin_ws
catkin_make
source devel/setup.bash

5) 執行與驗證

開 1：啟動 master

roscore

開 2：跑節點

source ~/catkin_ws/devel/setup.bash
rosrun my_pkg talker.py           # Python
# 或
rosrun my_pkg talker              # C++

開 3：檢查 Topic

rostopic list
rostopic echo /chatter

6) Launch 範例（可選）

~/catkin_ws/src/my_pkg/launch/demo.launch

<launch>
  <node pkg="my_pkg" type="talker.py" name="talker_py" output="screen"/>
  <!-- <node pkg="my_pkg" type="talker"   name="talker_cpp" output="screen"/> -->
</launch>

roslaunch my_pkg demo.launch

小提醒

• 不要同時 source ROS 1 與 ROS 2（避免路徑衝突）。

• 之後新增相依就改 package.xml 與 CMakeLists.txt，再 catkin_make。

• 喜歡 catkin_tools 的話：sudo apt install python3-catkin-tools → catkin build（取代 catkin_make）。