Create a new Workspace
Create folder structure
Best practice is to create a new directory for every new workspace. The name doesn’t matter, but it is helpful to have it indicate the purpose of the workspace. For this one, let's call it
mkdir -p ~/ros2_ws/src
As you can see, we have also created an
src folder inside the workspace. This folder is where you will place all the packages that you create.
Build the workspace
From the root of your workspace
(~/ros2_ws), you can now build your packages using the command:`
cd ~/ros2_ws colcon build
Once the build is finished, execute
ls in the workspace root and you will see that colcon has created new directories:
build install log src
The install directory is where your workspace’s setup files are, which you can use to source your workspace.
Source your worspace
Before sourcing your workspace, it is very important that you open a new terminal, separate from the one where you built the workspace. Sourcing a workspace in the same terminal where you built may create complex issues.
In the new terminal, source your main ROS2 environment as the “underlay”, so you can build the overlay “on top of” it:
(This is step is not necessary if you already have this line in your
Next, go into the root of your workspace:
In the root, source your workspace:
Now you will be able to use all the packages of this workspace. Although it's empty currently, you will create various packages during this tutorials.