Setup workspace
mkdir ${name_of_space}
mkdir ${name_of_space}/src
cd ${name_of_space}/src
catkin_init_workspace
Then you can write your code in the /src folder. When finished, type the following command.
catkin_make
source devel/setup.bash
After that, you can used command such as “roscore” “rosrun” or “roslaunch” to start your ROS project.