ROS2 创建自己的包

amnet 目前还没有类似catkin_created的命令，但是ros2自带的有

ros2 pkg create命令

• 创建包 ros2 pkg create test 会创建一个名为test的包
• ros2 pkg create test --dependencies std_msgs rclcpp 创建包时添加 std_msgs和rclcpp依赖

• ros2 pkg create test --cpp-node-name my_test 创建包时创建名为my_test节点,内容如下:

  #include <cstdio>
  
  int main(int argc, char ** argv)
  {
    (void) argc;
    (void) argv;
  
    printf("hello world my_test package\n");
    return 0;
  }

• ros2 pkg create test --cpp-library-name my_test 创建包时创建名为mytest的库，在include/test/会生成my_test.hpp和visibility_control.h

• ros2 pkg create test --dependencies std_msgs rclcpp --cpp-node-name my_node --cpp-library-name my_lib 创建一个包含节点和库的包，并且依赖std_msgs和rclcpp，可以看到结果

  going to create a new package
  package name: test
  destination directory: /home/wxx/ros2_ws/src/wxxtest
  package format: 2
  version: 0.0.0
  description: TODO: Package description
  maintainer: ['wxx <[email protected]>']
  licenses: ['TODO: License declaration']
  build type: ament_cmake
  dependencies: ['std_msgs', 'rclcpp']
  cpp_node_name: my_node
  cpp_library_name: my_lib
  creating folder ./test
  creating ./test/package.xml
  creating source and include folder
  creating folder ./test/src
  creating folder ./test/include/test
  creating ./test/CMakeLists.txt
  creating ./test/src/my_node.cpp
  creating ./test/include/test/my_lib.hpp
  creating ./test/src/my_lib.cpp
  creating ./test/include/test/visibility_control.h