1.安装：按照官网APT 安装、
2.配置环境变量.
3.创建工作空间
1 mkdir -p ~/catkin_ws/src 2 cd ~/catkin_ws 3 catkin_init_workspace 4 catkin_make
4.创建RoS
1 cd ~/catkin_ws/src 2 catkin_create_pkg test std_msgs rospy roscpp 3 catkin_make --pkg test 4 source ~/.bashrc
5.如果一个项目包含多个ROS包，创建方法如下：
1 cd ~/catkin_ws/src 2 mkdir projectxx 3 cd projectxx 4 catkin_create_pkg subproj1 std_msgs rospy roscpp 5 catkin_create_pkg subproj2 std_msgs rospy roscpp 6 catkin_create_pkg subproj3 std_msgs rospy roscpp 7 ..
原文：http://www.cnblogs.com/xialuobo/p/6073301.html