1 建立package

catkin_create_pkg beginner_tutorials roscpp

2 导入Qt

Qt中打开整个工作空间的src/CMakeLists.txt 在倒数第二行最后加入，最后一行include是为了写代码时候智能提示

FILE(GLOB children ${CMAKE_SOURCE_DIR}/*)

FOREACH(child ${children})

  IF(IS_DIRECTORY ${child})

    file(GLOB_RECURSE dir_files "${child}/*")

    LIST(APPEND extra_files ${dir_files})

  ENDIF()

ENDFOREACH()

add_custom_target(dummy_${PROJECT_NAME} SOURCES ${extra_files})

include_directories(/home/xiaophuang/catkin_ws/devel/include)

右键点击project，执行run cmake,输入的参数是-DCMAKE_BUILD_TYPE=Debug

这样workspace下面的所有非空文件夹都会被导入

3 添加文件，文件夹

在package下新建一个srv文件夹（在Qt下面好像不能建文件夹，在外面建立文件夹）

在Qt下新建一个AddTwoInts.srv文件放在srv文件夹下面，输入

int64 a

int64 b

----

int64 sum

修改package.xml，CMakeLists.txt

测试一下

rossrv  show beginner_tutorials/AddTwoInts

4， Debug

要是按F5提示(注意不要选错要调试的程序)

This does not seem to be a "Debug" build.

Setting breakpoints by file name and line number may fail.

Section .debug_info: Not found.

Section .debug_abbrev: Not found.

Section .debug_line: Not found.

Section .debug_str: Not found.

Section .debug_loc: Not found.

Section .debug_range: Not found.

Section .gdb_index: Not found.

Section .note.gnu.build-id: Found.

Section .gnu.hash: Found.

Section .gnu_debuglink: Not found.

打开projects, run cmake 输入-DCMAKE_BUILD_TYPE=Debug

设置断点，