Compile a package
Create your package
First of all, make sure you are in the src folder of your workspace before running the package creation command.
Also, make sure that you have sourced your ROS2 installation.
Now let's create a couple of new packages, executing the following commands.
ros2 pkg create a_package ros2 pkg create b_package
At the end, you should end up with the following 2 packages in your workspace:
For this example. we are not going to worry too much about how we create these package, since it is only for testing purposes.
Compile your package
Return to the root of your workspace:
Now you can build your packages:
You will get something like this in your shell:
As you can see, this command compiles your whole src directory (
b_package). Also, it is very important to state that IT NEEDS to be issued in the root of your workspace (for this tutorials it's
~/ros2_ws). This is MANDATORY.
Sometimes (for example, in large projects) you will not want to compile all of your packages, but just the one(s) where you've made changes. You can do this with the following command:
colcon build --packages-select a_package
Now, the output of the shell will indicate the compilation of ONLY the package specified in the command:
Source your workspace
Finally, remember yo source your workspace after building it.
cd ~/ros2_ws source install/setup.bash
Also, you can test this tutorial in ROSDS, using a ROSject which already contains all the code described in it. You can get the ROSject by clicking on the button below:
Above: Get ROSDS ROSject
The link above will take yo a page like the below one:
Now, you just need to Sign In (or Sign Up if you don't have an account yet) to ROSDS in order to launch the ROSject.