Create Hello World

CMakeLists.txt

@@ -133,22 +133,22 @@ include_directories(
 ## Declare a C++ executable
 ## With catkin_make all packages are built within a single CMake context
 ## The recommended prefix ensures that target names across packages don't collide
-# add_executable(${PROJECT_NAME}_node src/intro_package_node.cpp)
+add_executable(${PROJECT_NAME}_intro_package src/intro_package.cpp)
 
 ## Rename C++ executable without prefix
 ## The above recommended prefix causes long target names, the following renames the
 ## target back to the shorter version for ease of user use
 ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
-# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+set_target_properties(${PROJECT_NAME}_intro_package PROPERTIES OUTPUT_NAME intro_package PREFIX "")
 
 ## Add cmake target dependencies of the executable
 ## same as for the library above
 # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 ## Specify libraries to link a library or executable target against
-# target_link_libraries(${PROJECT_NAME}_node
-#   ${catkin_LIBRARIES}
-# )
+target_link_libraries(${PROJECT_NAME}_intro_package
+    ${catkin_LIBRARIES}
+)
 
 #############
 ## Install ##

src/intro_package.cpp

+#include <ros/ros.h>
+
+int main(int argc, char** argv)
+{
+    ros::init(argc, argv, "intro_package_node");
+    ros::NodeHandle node_handle("intro_package_ns");
+
+    ROS_INFO("HELLO WORLD");
+}
+