Creating a package (Python)
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 you are ready to create your package. The command structure for creating ROS 2 packages is the following.
ros2 pkg create <package_name> --build-type ament_python --dependencies <package_dependecies>
package_name is the name of the package you want to create, and the
package_dependencies are the names of other ROS packages that your package depends on.
It's important to remark that this command MUST be executed in your ROS2 workspace (for this tutorials, it's
For creating a Python package, execute the following command.
ros2 pkg create my_package --build-type ament_python --dependencies rclcpy
You should get something like thisin your shell.
This will create inside our
src directory a new package with some files in it. If you check the files inside your package, you will see the following:
In order to check that our package has been created successfully, we can use some ROS commands related to packages. For example, let's type:
ros2 pkg list ros2 pkg list | grep my_package
Build your package
Return to the root of your workspace:
Now you can build your packages:
To build only the my_package package you have created, you can run:
colcon build --packages-select my_package
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.