ROS2 Tutorial

如果需要查看ROS2的安装和基本的使用，可查看
https://blog.csdn.net/wei242425445/article/details/115186263

创建目录

$ mkdir -p ~/dev_ws/src
$ cd ~/dev_ws/src

拉取代码

$ git clone https://github.com.cnpmjs.org/ros/ros_tutorials.git -b foxy-devel
$ ls ros_tutorials/
roscpp_tutorials  rospy_tutorials  ros_tutorials  turtlesim

回到根目录

$ cd ..
$ pwd
/home/wilson/dev_ws

安装关联的包

$ rosdep install -i --from-path src --rosdistro foxy -y
#All required rosdeps installed successfully

编译

$ colcon build
Starting >>> turtlesim
[Processing: turtlesim]                             
Finished <<< turtlesim [40.6s]                       

Summary: 1 package finished [40.8s]

激活环境

$ . install/local_setup.bash

运行节点

$ ros2 run turtlesim turtlesim_node

修改窗口名称

重新编译

$ colcon build

运行

$ ros2 run turtlesim turtlesim_node