ROS2

Sourcing files

• Add to .bashrc

source /opt/ros/humble/setup.bash

source ~/ros2_ws/install/setup.bash

source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash

Setting up ros2 workspace

• Create src folder mkdir src
• Build packages and create workspace folders colcon build

Creating packages

• These command should be used on src folder

  • For python package ros2 pkg create my_py_pkg --build-type ament_python --dependencies rclpy

    • --build-type ament_python This specifies the build type for the package, indicating that it contains Python code and should be built using the ament build system with Python-specific configurations.

    • --dependencies rclpy This option specifies a dependency for the package. rclpy is a Python client library for ROS2. It provides Python bindings for underlying communication libraries and allows the creation of nodes and work concepts using Python.

  • For cpp package ros2 pkg create my_cpp_pkg --build-type ament_cmake --dependencies rclcpp

    • --build-type ament_cmake Indicates that this package will be built using the ament build system with CMake-specific configurations.

• To build packages run on the root folder

  • To build all packages colcon build
  • For specific packages colcon build --packages-select <package-name>