Creating Packages in ROS2
Creating a C++ package
Step 1: Create the package using the following CLI command:
cd ~/ros2_ws/src
ros2 pkg create [PACKAGE_NAME] --build-type ament_cmake --dependencies rclcpp std_msgs [OTHER_DEPENDENCY_PACKAGES]
Step 2: Modify package.xml file for package dependencies of the created node(s).
Step 3: Modify CMakeLists.txt.
# Add all the following above ament_package().
add_executable(node_name src/file.cpp)
ament_target_dependencies(node_name rclcpp std_msgs other_dependencies)
# Install node(s)
install(TARGETS node_name DESTINATION lib/${PROJECT_NAME})
# Install launch file(s)
install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
Step 4: Build using the following CLI command:
colcon build --symlink-install
Creating a Python package
Step 1: Create the package using the following CLI command:
cd ~/ros2_ws/src ros2 pkg create [PACKAGE_NAME] --build-type ament_python --dependencies rclcpp std_msgs [OTHER_DEPENDENCY_PACKAGES]
Step 2: Modify package.xml file for package dependencies of the created node(s).
Step 3: Check setup.cfg. It should look like this:
[develop] script-dir=$base/lib/[PACKAGE_NAME] [install] install-scripts=$base/lib/[PACKAGE_NAME}
Step 3: Modify setup.py. This file is like CMakeLists.txt in a C++ package.
import os
from glob import glob
from setuptools import setup
package_name = 'my_package'
setup(
name=package_name,
version='0.0.0',
# Packages to export
packages=[package_name],
# Files we want to install, specifically launch files
data_files=[
# Install marker file in the package index
('share/ament_index/resource_index/packages', ['resource/' + package_name]),
# Include our package.xml file
(os.path.join('share', package_name), ['package.xml']),
# Include all launch files.
(os.path.join('share', package_name, 'launch'), glob(os.path.join('launch', *.launch.py'))),
],
# This is important as well
install_requires=['setuptools'],
zip_safe=True,
author='ROS 2 Developer',
author_email='ros2@ros.com',
maintainer='ROS 2 Developer',
maintainer_email='ros2@ros.com',
keywords=['foo', 'bar'],
classifiers=[
'Intended Audience :: Developers',
'License :: TODO',
'Programming Language :: Python',
'Topic :: Software Development',
],
description='My awesome package.',
license='TODO',
# Like the CMakeLists add_executable macro, you can add your python
# scripts here.
entry_points={
'console_scripts': [
'my_script = my_package.my_script:main'
],
},
)
Step 4: Build using the following CLI command:
colcon build --symlink-install
Official documentation: