ROS2 工作空间 包

source /opt/ros/humble/setup.bash

colcon

 sudo apt install python3-colcon-common-extensions

创建工作空间

 mkdir -p ~/ros2_ws/src

编译

ros2_ws目录下

colcon build

创建包

ros2 pkg create --build-type ament_python --node-name my_node  test_kiki

编译失败

Starting >>> test_kiki
--- stderr: test_kiki                   
/usr/lib/python3/dist-packages/setuptools/command/install.py:34: SetuptoolsDeprecationWarning: setup.py install is deprecated. Use build and pip and other standards-based tools.
  warnings.warn(
---
Finished <<< test_kiki [1.29s]

Summary: 1 package finished [1.55s]
  1 package had stderr output: test_kiki

解决 参考

ROS2 delete package_ros删除package-CSDN博客

SetuptoolsDeprecationWarning: setup.py install is deprecated. Use build and pip and other standards-based tools. - ROS Answers: Open Source Q&A Forum

python3
>>> import setuptools
>>> print(setuptools.__version__)
如果高于 58.2.0 则降级
quit（）退出python3环境

pip install setuptools==58.2.0
提示安装pip
sudo apt install python3-pip

colcon build --packages-select test_kiki
Starting >>> test_kiki
Finished <<< test_kiki [1.20s]          

Summary: 1 package finished [1.43s]

新窗口中

source ./install/local_setup.bash

ros2 run test_kiki my_node
Hi from test_kiki.

ps: 可以添加到bashrc  不用每次 source

sudo gedit ~/.bashrc

最后一行添加

 source ~/ros2_ws/install/setup.bash