Emoji is becoming a ubiquitous language and gaining worldwide popularity in recent years including the field of software engineering (SE). As nonverbal cues, emojis are widely used in user understanding tasks such as sentiment analysis, but few work has been done to study emojis in SE scenarios. This paper presents a large scale empirical study on how GitHub users use emojis in development-related communications. We find that emojis are used by a considerable proportion of GitHub users. In comparison to Internet users, developers show interesting usage characteristics and have their own interpretation of the meanings of emojis. In addition, the usage of emojis reflects a positive and supportive culture of this community. Through a manual annotation task, we find that sentimental usage is a main intention of using emojis in issues, pull requests, and comments, while emojis are mainly used to emphasize important contents in README. These findings not only deepen our understanding about the culture of SE communities, but also provide implications on how to facilitate SE tasks with emojis such as sentiment analysis.