ros2笔记

hello world c++

mkdir -p {
   
   your workspace name}/src
cd {
   
   your workspace name} #进入工作空间
colcon build #编译

create package

in {your workspace name}/src

ros2 pkg create {
   
   your package name} --build-type ament-cmake --dependencies rclcpp	 --node-name helloworld

helloworld.cpp

#include "rclcpp/rclcpp.hpp"

int main(int argc,char ** argv)
{
   
   
  rclcpp::init(argc,argv);

  auto node = rclcpp::Node::make_shared("helloworld_node");

  RCLCPP_INFO(node->get_logger(),"hello world!");

  rclcpp::shutdown();
  return 0; 
}

if you want to add some dependencies you can like this

this is CMakeLists 's explain

# 引入外部依赖包
find_package(rclcpp REQUIRED)
# 映射源文件与可执行文件
add_executable(helloworld src/helloworld.cpp)

# 设置目标依赖库
ament_target_dependencies(
  helloworld
  "rclcpp"