94 lines
2.7 KiB
Markdown
94 lines
2.7 KiB
Markdown
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# Setting up VSCode
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first install vscode using snap
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```bash
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sudo snap install code --classic
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```
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then add the `ROS` extension from Microsoft.
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# Setting up the ROS2 Package Workspace
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first create the folder for the package usual it is called `packagename_ws`where `_ws` stands for then you enter the directory and create another directory called `src` then run the `colcon build` command.
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```bash
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colcon build
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```
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next go into the `install` folder and add the `setup.bash` source command to your `~/.bashrc`
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```bash
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...
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source /home/username/package_ws/install/setup.bash
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```
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## Creating a Python Packages
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#### Setting Up
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Go to the workspace folder that was created in the last step and open the `src` folder. In this folder run this command.
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```bash
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ros2 pkg create {package_name} --build-type ament_python --dependencies rclpy
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```
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add your code in to the folder with the `__init__.py`. This is usually in the folder `src/{package_name}/{package_name}`
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#### Programming
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create a python file for your first node.
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`my_first_node.py`
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```python
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#!/usr/bin/env python
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import rclpy
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from rclpy.node import Node
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class MyNode(Node):
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def __init__(self):
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super().__init__('first_node')
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self.get_logger().info('Hello from ROS2')
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def main (args=None):
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rclpy.init(args=args)
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node = MyNode()
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rclpy.spin(node)
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rclpy.shutdown()
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if __name__ == '__main__':
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main()
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```
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Now add it to the setup.py file in the `entry_points` section.
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it is setup with the name of the ROS2 command first then the equals followed by the package name, python file name that is in the same folder as the `__init__.py`, and finally the function name to call, usual `main`.
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```python
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entry_points={
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'console_scripts': [
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"test_node = husky_test.my_first_node:main"
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],
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},
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```
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The final step is building the script and testing it.
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#### Building
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go the the `{package_name}_ws` folder with the `src` and `install` folder in it. Then run the `colcon build` command.
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```bash
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colcon build
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```
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next run the `source ~/.bashrc` command to reload the workspace source file and the other source files.
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#### Simplifying Build (specific to python)
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since we are using python and it is interpreted we can simplify the build process when working buy using the symlink command to avoid building.
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```bash
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colcon build --symlink-install
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```
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then just like before run the `source ~/.bashrc` command to refresh everything and after that you will never have to worry about building or refreshing again.
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## Creating a C++ Packages
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Go to the workspace folder that was created in the last step and open the `src` folder. In this folder run this command.
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```bash
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ros2 pkg create {package_name} --build-type ament_cmake
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```
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