ROS2第三章学习笔记

最新推荐文章于 2024-04-15 22:17:08 发布

uestc_j

最新推荐文章于 2024-04-15 22:17:08 发布

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分类专栏： ROS2 文章标签：学习 linux c++

本文链接：https://blog.csdn.net/qq_41866784/article/details/126318691

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Rosdep

rosdep install --from-paths src -y --ignore-src

Breaking that down:

--from-paths src specifies the path to check for package.xml files to resolve keys for
-y means to default yes to all prompts from the package manager to install without prompts
--ignore-src means to ignore installing dependencies, even if a rosdep key exists, if the package itself is also in the workspace.

Composition

ros2 run rclcpp_components component_container

ros2 component list

ros2 component load

ros2 component unload

ros2 run rclcpp_components component_container --ros-args -r __node:=MyContainer -r __ns:=/ns

ros2 component load /ComponentManager composition composition::Talker --node-name talker3 --node-namespace /ns2

Launch

For packages with launch files, it is a good idea to add an exec_depend dependency on the ros2launch package in your package’s package.xml:

<exec_depend>ros2launch</exec_depend>

This helps make sure that the ros2 launch command is available after building your package. It also ensures that all launch file formats are recognized.