1.建立工作空间mkdir - p ~/ catkin _ ws / src-p表示递归式创建多级目录2.初始化工作空间创建完成后，要让ROS知道这个文件夹是ROS系统的工作空间，因此要进行初始化。cd ~/catkin_ws/srccatkin_init_workspace3.编译工作空间cd ~/catkin_wscatkin_make产生devel与build文件。备注：catkin_mak

CMake Error at /opt/ros/melodic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):Could not find a package configuration file provided by "grid_map_core"with any of the following names:grid_map_

报错：Clearsigned file isn’t valid, got ‘NOSPLIT’ (does the network require authentication?)背景：ubuntu16.04在运行sudo apt-get update 命令后，报错如上原因：没有给外网授权。电脑连的是校园网，虚拟机时桥接网，但是校园网不允许桥接，所以虚拟机没有连接到网络。解决：在虚拟机中打开浏览器，