1 建立package
catkin_create_pkg beginner_tutorials roscpp
2 導入Qt
Qt中打開整個工作空間的src/CMakeLists.txt 在倒數第二行最后加入，最后一行include是為了寫代碼時候智能提示
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)
右鍵點擊project，執行run cmake,輸入的參數是-DCMAKE_BUILD_TYPE=Debug
這樣workspace下面的所有非空文件夾都會被導入
3 添加文件，文件夾
在package下新建一個srv文件夾（在Qt下面好像不能建文件夾，在外面建立文件夾）
在Qt下新建一個AddTwoInts.srv文件放在srv文件夾下面，輸入
int64 a
int64 b
----
int64 sum
修改package.xml，CMakeLists.txt
測試一下
rossrv show beginner_tutorials/AddTwoInts
4， Debug
要是按F5提示(注意不要選錯要調試的程序)
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.
打開projects, run cmake 輸入-DCMAKE_BUILD_TYPE=Debug
設置斷點，