ROS2-工作空间+colcon工具-03

目录

• ros2 基本命令
• 2. 功能包.
• 3. colcon

ros2 基本命令

ros2 run <package_name> <executable_name>
ros2 run turtlesim turtlesim_node

ros2 node list
ros2 node info <node_name>

ros2 run turtlesim turtlesim_node --ros-args --remap __node:=my_turtle
ros2 run example_parameters_rclcpp parameters_basic --ros-args -p rcl_log_level:=10

ros2 run example_parameters_rclcpp parameters_basic --ros-args -p rcl_log_level:=10

ROS2命令行工具源码：https://github.com/ros2/ros2cli

2. 功能包.

sudo apt install ros-<version>-package_name

ros2 pkg create <package-name>  --build-type  {cmake,ament_cmake,ament_python}  --dependencies <依赖名字>
ros2 pkg executables
ros2 pkg executables turtlesim
ros3 pkg list
ros2 pkg prefix  <package-name>
ros2 pkg prefix turtlesim
ros2 pkg xml turtlesim


ros2
ros2 pkg list
ros2 node list
ros2 pkg executables turtlesim
ros2 pkg prefix turtlesim
ros2 pkg xml turtlesim

3. colcon

安装：
sudo apt-get install python3-colcon-common-extensions
colcon

构建例子：
mkdir colcon_test_ws && cd colcon_test_ws
git clone https://github.com/ros2/examples src/examples -b humble
colcon build
if Setuptools DeprecationWarning: setup.py install is deprecated:
  sudo pip install setuptools==58.2.0 --upgrade

src
build 
install
log   


cd colcon_test_ws
source install/setup.bash
ros2 run examples_rclcpp_minimal_subscriber subscriber_member_function
another terminal:
source install/setup.bash 
ros2 run examples_rclcpp_minimal_publisher publisher_member_function



colcon其他命令：
colcon build --packages-select YOUR_PKG_NAME
colcon build --packages-select YOUR_PKG_NAME  --cmake-args -DBUILD_TESTING=0
colcon test

colcon 官方文档：
https://link.zhihu.com/?target=https%3A//colcon.readthedocs.io/en/released/user/installation.html
ROS2官网文档 https://docs.ros.org/en/humble/Tutorials/Colcon-Tutorial.html