ROS 2 Colcon build reference

Adding library

Use the following snippet in your packages's CMakeLists.txt:

add_library(${PROJECT_NAME} SHARED
	src/library.cpp
	src/library2.cpp
)
target_include_directories(${PROJECT_NAME} PUBLIC
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
  $<INSTALL_INTERFACE:include>)
ament_target_dependencies(
  ${PROJECT_NAME}
  YOUR_DEPENDENCIES_HERE
)

Add unit tests

Add GTest as the following:

find_package(ament_cmake_gtest REQUIRED)
ament_add_gtest(test_${PROJECT_NAME} test/test_1.cpp)
ament_target_dependencies(test_${PROJECT_NAME} rclcpp)

In case you built a link, you can link it as the following:

target_link_libraries(test_${PROEJCT_NAME} ${PROJECT_NAME})

Add Eigen to your project

Add Eigen to the project:

find_package(Eigen3 REQUIRED)
include_directories(${EIGEN3_INCLUDE_DIR})

Use only one thread on build

Build package on ONE thread (ROS 2 Foxy):

MAKEFLAGS="-j1 -l1" colcon build --executor sequential

Explicitly enable colcon debug output

colcon build --event-handlers console_direct+