创建 ROS2 软件包
本文介绍如何创建一个支持 CMake 或 Python 的 ROS2 软件包(package),并尝试运行它。
什么是 ROS2 软件包
A package can be considered a container for your ROS 2 code. If you want to be able to install your code or share it with others, then you’ll need it organized in a package. With packages, you can release your ROS 2 work and allow others to build and use it easily.
Package creation in ROS 2 uses ament as its build system and colcon as its build tool. You can create a package using either CMake or Python, which are officially supported, though other build types do exist.