Setting up catkin workspaces

We will need a catkin workspace on your development machine –laptop or desktop – as well as on the Raspberry Pi. Follow the instructions at http://wiki.ros.org/catkin/Tutorials/create_a_workspace.

If you are already a user of ROS, then you know what a catkin workspace is, and how it is used to create packages that can be used and deployed as a unit. We are going to keep all of our programs in a package we will call tinman. Let's go ahead and put this package together. It takes just a few steps.

Start in the home directory:

mkdir –p catkin_ws/src
cd catkin_ws/src
catkin_make
source devel/setup.bash
catkin_create_pkg tinman
catkin_make
cd src/tinman/src
mkdir script
mkdir launch

You’ll be left with a directory structure that looks something like this: