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ROS2与Python入门教程-新建ros2工作空间
说明:
概念:
步骤:
source /opt/ros/foxy/setup.bash
source ~/ros2_ws/install/local_setup.bash
mkdir -p ~/dev_ws/src
cd ~/dev_ws/src
~/dev_ws/src$ git clone https://github.com/ros/ros_tutorials.git -b foxy-devel
~/dev_ws/src$ ls ros_tutorials/
roscpp_tutorials rospy_tutorials ros_tutorials turtlesim
rosdep install -i --from-path src --rosdistro foxy -y
~/dev_ws$ colcon build --symlink-install
Starting >>> turtlesim
Finished <<< turtlesim [21.0s]
Summary: 1 package finished [21.2s]
~/dev_ws$ ls
build install log src
测试新工作空间
source /opt/ros/foxy/setup.bash
cd ~/dev_ws
. install/setup.bash
验证新工作空间的是否会覆盖
ros2底层本身带有turtlesim包,dev工作空间也带有turtlesim包
那么我们通过修改dev工作空间的包来确认是否运行的是dev下工作空间下的turtlesim包
修改turtle_frame.cpp
,位于~/dev_ws/src/ros_tutorials/turtlesim/src
下
修改setWindowTitle("TurtleSim")
为etWindowTitle("MyTurtleSim");
重新编译下工作空间
cd ~/dev_ws/
colcon build --symlink-install
ros2 run turtlesim turtlesim_node
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