How do you use ROS 2 colcon to manage packages? ?

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If you are working with Robot Operating System (ROS) 2, you might have heard of colcon, a tool that helps you build, test, and install ROS packages. Colcon is short for compile and configure, and it is designed to handle complex dependencies and workspaces efficiently. In this article, you will learn how to use colcon to manage your ROS 2 packages in four steps: setting up a workspace, creating a package, building and testing a package, and installing a package.

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Gerard Kinneen

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1 Setting up a workspace

A workspace is a directory where you can store and organize your ROS packages. To create a workspace with colcon, you need to make a folder called src inside the workspace folder. For example, you can create a workspace called ros2_ws in your home directory with the following commands: mkdir -p ~/ros2_ws/src cd ~/ros2_ws Then, you need to source the ROS 2 environment setup file, which sets up some variables and paths for colcon to work properly. You can do this by running: source /opt/ros/foxy/setup.bash Replace foxy with your ROS 2 distribution name if you are using a different one.

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Gerard Kinneen

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One time at work, I set up a new ROS 2 workspace, then I Cloned an existing ROS 2 package into the src directory or created my own packages.By navigating to the root of your workspace (~/ros2_ws) and build the packages using colcon build. After a successful build, source the workspace to set the environment variables. now use ROS 2 commands like ros2 run or ros2 launch to execute nodes from the packages within your workspace. colcon simplifies the build process in ROS 2 and allows for better organization of packages within a workspace. It also supports parallel builds, making it efficient for large projects with multiple packages.

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2 Creating a package

A package is a unit of software that contains code, data, configuration, and documentation for a specific functionality or purpose. To create a package with colcon, you can use the ros2 pkg create command, which generates a basic package structure and files for you. For example, you can create a package called my_pkg with the following command: ros2 pkg create --build-type ament_python my_pkg The --build-type option specifies the build system and language of the package. In this case, we are using ament_python, which is suitable for Python packages. You can also use ament_cmake for CMake packages, or other supported build types.

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Abhaydan Kushwaha

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Colcon is a command-line tool for building and managing ROS 2 (Robot Operating System) packages. ``` colcon pkg create <package_name> ``` # Example Use Case: Suppose you want to create a ROS 2 package called `my_robot_control` that depends on the `rclcpp` package. Then - ``` colcon pkg create my_robot_control cd my_robot_control colcon pkg init echo '<depend>rclcpp</depend>' >> package.xml colcon build source install/setup.bash ```

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3 Building and testing a package

To build your package with colcon, you can use the colcon build command, which compiles your code and generates executables, libraries, and other artifacts. You can run this command from the root of your workspace, and it will build all the packages in the src folder. For example, you can build your package with the following command: colcon build You can also use some options to customize the build process, such as --packages-select to specify which packages to build, or --symlink-install to create symbolic links instead of copying files.

To test your package with colcon, you can use the colcon test command, which runs the tests defined in your package and reports the results. You can run this command from the root of your workspace, and it will test all the packages in the src folder. For example, you can test your package with the following command: colcon test You can also use some options to customize the test process, such as --packages-select to specify which packages to test, or --event-handlers to change the output format.

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4 Installing a package

To install your package with colcon, you can use the colcon install command, which copies or links the files and artifacts from the build folder to the install folder. You can run this command from the root of your workspace, and it will install all the packages in the src folder. For example, you can install your package with the following command: colcon install You can also use some options to customize the install process, such as --packages-select to specify which packages to install, or --merge-install to merge all the packages into one install folder.

To use your installed package, you need to source the local setup file, which sets up some variables and paths for your package to be recognized by ROS 2. You can do this by running: source ~/ros2_ws/install/setup.bash Now you can run your package nodes, launch files, or scripts as usual.