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create_package_and_build.md

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Create package and Build

1. before start

# YOU SHOULD RUN THIS SCRIPT, IF YOU NOT
$ source /opt/ros/foxy/setup.bash
$ source /home/leoo/shared/ros2-sandbox/install/setup.bash
$ source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash

2. create package

2.1. python

$ cd src
$ ros2 pkg create my_py_pkg --build-type ament_python --dependencies rclpy
  • ament_python
    • pure python packages and tells the build tools to use a setuptools workflow
  • rclpy(ROS Client Library for Python)

2.2. c++

$ cd src
$ ros2 pkg create my_cpp_pkg --build-type ament_cmake --dependencies rclcpp

3. colcon build

$ colcon build # build every packages
$ colcon build --packages-select my_py_pkg
$ colcon build --packages-select my_py_pkg --symlink-install # for debugging
  • --symlink-install
    • 파이썬의 경우 매번 build 시켜야 하는데, symlink를 넣으면 파이썬 파일이 새로 컴파일 되지 않고도, hot-reloading 시킬 수 있다.

4. run compiled file

# e.g (pwd=ros2-sandbox)
$ ./install/my_py_pkg/lib/my_py_pkg/py_node

# or
$ ros2 run my_py_pkg py_node