1  /opt/ros/jazzy/setup.bash
    2  source /opt/ros/jazzy/setup.bash
    3  ros2
    4  arch
    5  pwd
    6  ls
    7  vi ~/.bashrc
    8  cd ros2_ws/src/
    9  ls
   10  ros2 pkg create my_py_pkg --build-type ament_python --dependencies rclpy
   11  clear
   12  history
   13  ls
   14  code .
   15  cd ..
   16  colcon build
   17  colcon build --packages-select my_pk_pkg

• do not colcon build inside src folder

  47  cd ros2_ws/src/
   48  ros2 pkg create my_cpp_pkg --build-type ament_cmake --dependencies rclcpp

cd ros2_ws/src/
10  ros2 pkg create my_py_pkg --build-type ament_python --dependencies rclpy
   51  colcon build
   52  colcon build --packages-select my_cpp_pkg

write a python node

• exeutable name
• node name
• file name -> my_first_node

source ~/.bashrc
ros2 run my_py_pkg py_node

python node with OOP

• colcon build --packages-select my_py_pkg
• source install/setup.bash
• ros2 run my_py_pkg py_node

cpp node

• colcon build --packages-select my_cpp_pkg
• source install/setup.bash
• ros2 run my_cpp_pkg cpp_node

python publisher

colcon build --packages-select my_py_pkg --symlink-install
ros2 run my_py_pkg robot_news_station
ros2 topic echo /robot_news