RSO2 学习

学习

hello word

ROS2系统学习3—第一个“Hello World”程序—即工作空间创建与包创建
创建工作目录

mkdir ros2Workspace
cd ros2Workspace
mkdir src
colcon build

打印输出：

Summary: 0 packages finished [0.61s]

创建一个功能包，方法和ros1是类似的，这里创建一个名为my_node的
ROS2学习笔记之创建自己的功能包

ros2 pkg create --build-type ament_cmake --node-name my_node my_package

返回数据：

xiaohua@ubuntu:~/code/ros2/ros2Workspace/src$ ros2 pkg create
–build-type ament_cmake --node-name my_node my_package going to create a new package package name: my_package destination directory:
/home/xiaohua/code/ros2/ros2Workspace/src package format: 3 version:
0.0.0 description: TODO: Package description maintainer: [‘xiaohua 2960229652@qq.com’] licenses: [‘TODO: License declaration’] 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
xiaohua@ubuntu:~/code/ros2/ros2Workspace/src$ ls my_package

回到工作目录的根目录，进行编译，编译指令：

colcon build

Starting >>> my_package
Finished <<< my_package [2.27s]
Summary: 1 package finished [2.89s]

最后source一下setuo文件：

source ./install/setup.bash

运行代码

ros2 run my_package my_node

另外，也可以把node放在package外面，直接放在src目录下：
ROS2创建如何创建节点(C++)

ros2 pkg create <<name_of_pack>> --build-type ament_cmake --dependencies rclcpp

.创建cpp文件

touch name_of_pack/src/main.cpp