ROS2第二章学习笔记

Resolve dependencies

rosdep install -i --from-path src --rosdistro humble -y

Other useful arguments for colcon build:

• --packages-up-to builds the package you want, plus all its dependencies, but not the whole workspace (saves time)
• --symlink-install saves you from having to rebuild every time you tweak python scripts
• --event-handlers console_direct+ shows console output while building (can otherwise be found in the log directory)

Build package

ros2 pkg create --build-type ament_cmake <package_name> --dependencies rclcpp

colcon build --packages-select <package_name>

Parameters

ros2 param list

ros2 param set /parameter_node <parameter_name> <parameter_value>