ROS 2 Workspace Setup

What is a ROS 2 Workspace?

A ROS 2 workspace is a directory where ROS 2 packages are built and stored. It contains all the code, dependencies, and build artifacts required for developing and running your ROS 2 applications.

To start building nodes and packages, you first need to set up a workspace.

Steps to Create a ROS 2 Workspace:

1. Create the Workspace Directory

First, open a terminal and create a directory for your workspace. We'll also create a src folder where the packages will go:

mkdir -p ros2_ws/src

cd ..

2. Build the Workspace

Once the directory is set, use colcon to build the workspace:

colcon build

3. Source the Workspace

After building, source the workspace so that ROS 2 can recognize the packages:

source install/setup.bash

This ensures the workspace is active and ROS 2 is aware of the packages in this workspace.

4. Adding Packages

Now your workspace is ready for adding packages! You can proceed to create packages for nodes, services, or any ROS 2 components.

Conclusion

Setting up a ROS 2 workspace is essential for organizing and building your robotic system's code. With your workspace ready, you can now start adding nodes and developing your ROS 2 applications.