ROS2 porting process
Before transplanting ROS2, first confirm the version that needs to be transplanted and its corresponding dependencies. This information can be introduced in ROS 2 Releases and Target Platforms . You can refer to this link to choose according to the platform you need to use. The following uses ROS2 Humble as an example. An example is given to introduce the ROS2 transplantation operation.
ROS Humble depends on the following:
The construction of ROS2 relies on the Colcon tool. This tool will be introduced below.
Build ToolsColcon
colcon is an iteration of the ROS build tools catkin_make, catkin_make_isolated, catkin_tools, and ament_tools. It can be installed on the PC side sudo apt install python3-colcon-common-extensions, and when cross compiling, you can install https://github.com/colconmultiple https://pypi.org/project/colcon-common-extensions/packages under the warehouse such as . The colcon package used in the current migration process is as follows:
colcon-argcomplete
colcon-common-extensions
colcon-defaults
colcon-library-path
colcon-notifica