ROS软件包开发完成后，需要安装包，如果你用的是catkin创建的工作空间，那么即可使用命令"catkin_make install"完成此项任务．下面介绍其安装的过程：
１.源码准备
准备好需要安装的代码，通常可以使用catkin来创建工作空间，包和编译整个项目．本例子假定工作空间为catkin_ws，包名为package_install．目录如下图所示：
２.编辑CMakeLists.txt
打开package/CMakeLists.txt，在文件末尾添加添加如下的代码：
#############
## Install ##
############# # all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html ## Mark executable scripts (Python etc.) for installation
## 添加python程序．in contrast to setup.py, you can choose the destination
install(PROGRAMS
scripts/talker.py
scripts/listener.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
) ## 添加可执行文件或者库文件，Mark executables and/or libraries for installation
install(TARGETS talker_node listener_node
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
) ## 添加头文件．Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
FILES_MATCHING PATTERN "*.h"
PATTERN ".svn" EXCLUDE
)
## 添加资源文件的目录，例如文件夹：urdf mesh rviz，其下的所有子目录的文件也会安装到相应的目录下．
install(DIRECTORY model
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
install(DIRECTORY urdf
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
install(DIRECTORY mesh
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
install(DIRECTORY rviz
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
) ## 添加资源文件．Mark other files for installation (e.g. launch and bag files, etc.)
install(FILES
launch/bringup.launch
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
)
３．编译
打开命令终端,到catkin_ws目录下，执行如下命令：
catkin_make install
安装的文件会生成在目录catkin_ws/install下．目录的结构如下图所示
４．运行
a.首先，可将install整个文件夹随意拷贝到一个目录下；然后，打开命令终端,到该目录install下，执行如下命令：
source devel/setup.bash
b.打开命令终端，运行程序，执行如下命令：
roslaunch package_install bringup.launch
这样就可以把安装的程序跑起来了．
５．源码
源码下载：catkin_ws.rar