ROS2 FOXY tutorial - Kraft2k/py_info_inv GitHub Wiki

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ROS2 Invironment Setup
$ source /opt/ros/foxy/setup.bash

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Create Python package

~ros2_ws/src$ ros2 pkg create my_py_pkg —build-type ament_python —dependencies rclpy

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Create C++ package
~/ros2_ws/src$ ros2 pkg create my_cpp_pkg —build-type ament_cmake —dependencies rclpp

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Create new package
~/ros2_ws/src$ ros2 pkg create my_new_pkg

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Colcon Only [PKG_NAME ..]

~/ros2_ws$ colcon build –packages-select [PKG_NAME …]

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Build selected packages including their dependencies

~/ros2_ws$ colcon build —packages-up-to [PKG_NAME …]

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If ERROR: failed to create symbolic link ‘……’ because existing path cannot be removed: Is a directory

~/ros2_ws$ colcon build —packages-select [PKG_NAME …] —cmake-clean-cache

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Create new Python node

~ros2_ws/src/my_py_pkg/my_py_pkg$ touch my_py_node.py

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Change mode executable Python node
~ros2_ws/src/my_py_pkg/my_py_pkg$ chmod +x my_py_node.py

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Run Python node
~ros2_ws/src/my_py_pkg/my_py_pkg$ ./my_py_node.py

colcon build —packages-select my_py_pkg —symlink-install
source ~/.bashrc

&&&&&
$ cat ~/.bashrc

$ ros2 node list

$ ros2 node info /py_test

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Rename a node at Runtime
$ ros2 run my_py_pkg py_node —ros-args –remap __node:=abc
$ ros2 run my_py_pkg py_node —ros-args –r __node:=node2