ros2 工作区、包

原创于 2025-11-24 09:52:52 发布 · 24 阅读

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#ros2

工作区创建

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone https://github.com/ros/ros_tutorials.git -b jazzy
cd ..
$ rosdep install -i --from-path src --rosdistro jazzy -y

colcon build
Starting >>> turtlesim
Finished <<< turtlesim [5.49s]

Summary: 1 package finished [5.58s]

source /opt/ros/jazzy/setup.bash
cd ~/ros2_ws
source install/local_setup.bash
ros2 run turtlesim turtlesim_node

包创建

ros2 pkg create --build-type ament_cmake --license Apache-2.0 <package_name>
ros2 pkg create --build-type ament_python --license Apache-2.0 <package_name>
ros2 pkg create --build-type ament_cmake --license Apache-2.0 --node-name my_node my_package
ros2 pkg create --build-type ament_python --license Apache-2.0 --node-name my_node my_package

going to create a new package
package name: my_package
destination directory: /home/user/ros2_ws/src
package format: 3
version: 0.0.0
description: TODO: Package description
maintainer: ['<name> <email>']
licenses: ['Apache-2.0']
build type: ament_cmake
dependencies: []
node_name: my_node
creating folder ./my_package
creating ./my_package/package.xml
creating source and include folder
creating folder ./my_package/src
creating folder ./my_package/include/my_package
creating ./my_package/CMakeLists.txt
creating ./my_package/src/my_node.cpp


---build
cd ~/ros2_ws
colcon build
colcon build --packages-select my_package

source install/local_setup.bash
ros2 run my_package my_node