Welcome to the ros2_learning_notes wiki!

• Pay attention to compatiableity between ROS2 and Gazebo
• Install ros-gz

   sudo apt install ros-jazzy-ros-gz

• Create Package

  ros2 pkg create <pkg_name> --build-type ament_cmake --dependencies rclcpp rclpy

  ros2 pkg --build-type ament_python <pkg_name>

• Build Package

  colcon build --packages-select <pkg_name>

• Node lifecycle
  • unconfigured, inactive, active, finalized
  • create()/shudown(). onConfigure()/onCleanup(), onActivate()/onDeactivate()