Plain Text
Node: camera_node
├── Parameter: frame_id = "camera_link"
├── Parameter: width = 640
├── Parameter: height = 480
├── Parameter: fps = 30
└── Parameter: exposure_mode = "auto"

Dynamic update example:
$ ros2 param set camera_node exposure_mode "manual"

// C++ publisher example (rclcpp)
#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"

class Publisher : public rclcpp::Node {
public:
  Publisher() : Node("publisher") {
  publisher_ = this->create_publisher<std_msgs::msg::String>("topic", 10);
  timer_ = this->create_wall_timer(
  std::chrono::milliseconds(500),
  [this]() { this->timer_callback(); });
  }
private:
  void timer_callback() {
  auto msg = std_msgs::msg::String();
  msg.data = "Hello ROS 2";
  publisher_->publish(msg);
  }
  rclcpp::TimerBase::SharedPtr timer_;
  rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
};

# Python publisher example (rclpy)
import rclpy
from rclpy.node import Node
from std_msgs.msg import String

class Publisher(Node):
  def __init__(self):
  super().__init__('publisher')
  self.publisher_ = self.create_publisher(String, 'topic', 10)
  self.timer = self.create_timer(0.5, self.timer_callback)

  def timer_callback(self):
  msg = String()
  msg.data = 'Hello ROS 2'
  self.publisher_.publish(msg)

# Download and install VS Code
wget -qO- https://packages.microsoft.com/keys/microsoft.asc | gpg --dearmor > packages.microsoft.gpg
sudo install -o root -g root -m 644 packages.microsoft.gpg /etc/apt/trusted.gpg.d/
sudo sh -c 'echo "deb [arch=amd64,arm64,armhf signed-by=/etc/apt/trusted.gpg.d/packages.microsoft.gpg] https://packages.microsoft.com/repos/code stable main" > /etc/apt/sources.list.d/vscode.list'
sudo apt update
sudo apt install -y code

sudo snap install --classic code

code --version

# Install the ROS extension
code --install-extension ms-iot.vscode-ros

# Install the C/C++ extension
code --install-extension ms-vscode.cpptools

# Install the Python extension
code --install-extension ms-python.python

# Install CMake Tools
code --install-extension ms-vscode.cmake-tools

# Open the workspace
code ~/ros2_ws

{
  "configurations": [
  {
  "name": "Linux",
  "includePath": [
  "${workspaceFolder}/**",
  "/opt/ros/humble/include/**",
  "/usr/include/**"
  ],
  "defines": [],
  "compilerPath": "/usr/bin/gcc",
  "cStandard": "c17",
  "cppStandard": "c++17",
  "intelliSenseMode": "linux-gcc-x64",
  "compileCommands": "${workspaceFolder}/build/compile_commands.json"
  }
  ],
  "version": 4
}

cd ~/ros2_ws
colcon build --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON
ln -s build/compile_commands.json

{
  "python.autoComplete.extraPaths": [
  "${workspaceFolder}/install/*/lib/python3.10/site-packages",
  "/opt/ros/humble/lib/python3.10/site-packages"
  ],
  "python.analysis.extraPaths": [
  "${workspaceFolder}/install/*/lib/python3.10/site-packages",
  "/opt/ros/humble/lib/python3.10/site-packages"
  ],
  "python.formatting.provider": "black",
  "python.linting.enabled": true,
  "python.linting.pylintEnabled": true
}

{
  "version": "2.0.0",
  "tasks": [
  {
  "label": "colcon build",
  "type": "shell",
  "command": "colcon build --symlink-install",
  "group": {
  "kind": "build",
  "isDefault": true
  },
  "problemMatcher": []
  }
  ]
}

{
  "version": "0.2.0",
  "configurations": [
  {
  "name": "ROS2: C++ Node",
  "type": "cppdbg",
  "request": "launch",
  "program": "${workspaceFolder}/install/${input:packageName}/lib/${input:packageName}/${input:executableName}",
  "args": [],
  "stopAtEntry": false,
  "cwd": "${workspaceFolder}",
  "environment": [
  { "name": "ROS_DOMAIN_ID", "value": "0" },
  { "name": "RMW_IMPLEMENTATION", "value": "rmw_cyclonedds_cpp" }
  ],
  "externalConsole": false,
  "MIMode": "gdb"
  }
  ]
}

sudo apt install terminator

sudo apt install git

git init
git add .
git commit

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws
tree -L 2

sudo apt install -y python3-colcon-common-extensions
colcon --help

cd ~/ros2_ws
colcon build
colcon build --packages-select <package_name>
colcon build --packages-select <pkg1> <pkg2> <pkg3>
colcon build --packages-skip <package_name>

colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Debug
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
colcon build --symlink-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON
colcon build --event-handlers console_direct+

source /opt/ros/humble/setup.bash
source ~/ros2_ws/install/setup.bash
source ~/overlay_ws/install/setup.bash

source install/setup.bash
echo $ROS_DOMAIN_ID
echo $AMENT_PREFIX_PATH
echo $LD_LIBRARY_PATH

echo "source ~/ros2_ws/install/setup.bash" >> ~/.bashrc
source ~/.bashrc

ros2 pkg list
ros2 pkg prefix <package_name>
find src -maxdepth 2 -name package.xml -exec dirname {} \;

ros2 pkg xml <package_name>
ros2 pkg dependencies <package_name>
ros2 pkg list > packages_list.txt

colcon build
colcon build --packages-select <modified_package>

colcon build --packages-select <package_name> --cmake-force-configure
rm -rf build install log
colcon build

colcon test
colcon test --packages-select <package_name>
colcon test-result --all
colcon test-result --verbose

cd ~/ros2_ws/src

ros2 pkg create --build-type ament_cmake my_cpp_pkg

ros2 pkg create --build-type ament_cmake \
  --dependencies rclcpp std_msgs \
  my_robot_controller

ros2 pkg create --build-type ament_cmake \
  --dependencies rclcpp std_msgs geometry_msgs \
  --node-name my_node \
  --library-name my_library \
  my_cpp_pkg

cd ~/ros2_ws/src

ros2 pkg create --build-type ament_python my_py_pkg

ros2 pkg create --build-type ament_python \
  --dependencies rclpy std_msgs \
  my_python_package

ros2 pkg create --build-type ament_python \
  --dependencies rclpy \
  --node-name my_node \
  my_py_pkg

<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
  <name>my_package</name>
  <version>1.0.0</version>
  <description>My ROS 2 package description</description>
  <maintainer email="user@example.com">Your Name</maintainer>
  <license>Apache-2.0</license>

  <buildtool_depend>ament_cmake</buildtool_depend>

  <depend>rclcpp</depend>
  <depend>std_msgs</depend>

  <test_depend>ament_lint_auto</test_depend>
  <test_depend>ament_lint_common</test_depend>

  <export>
  <build_type>ament_cmake</build_type>
  </export>
</package>

<depend>rclcpp</depend>
<depend>rclpy</depend>
<depend>std_msgs</depend>
<depend>geometry_msgs</depend>
<depend>sensor_msgs</depend>
<depend>nav_msgs</depend>
<depend>tf2</depend>
<depend>tf2_ros</depend>
<depend>tf2_geometry_msgs</depend>

from setuptools import setup

package_name = 'my_py_pkg'

setup(
  name=package_name,
  version='1.0.0',
  packages=[package_name],
  data_files=[
  ('share/ament_index/resource_index/packages',
  ['resource/' + package_name]),
  ('share/' + package_name, ['package.xml']),
  ('share/' + package_name + '/launch', ['launch/my_launch.py']),
  ('share/' + package_name + '/config', ['config/params.yaml']),
  ],
  install_requires=['setuptools'],
  zip_safe=True,
  maintainer='Your Name',
  maintainer_email='user@example.com',
  description='My ROS 2 Python package',
  license='Apache-2.0',
  tests_require=['pytest'],
  entry_points={
  'console_scripts': [
  'my_node = my_py_pkg.my_node:main',
  ],
  },
)

entry_points={
  'console_scripts': [
  'talker = my_py_pkg.talker:main',
  'listener = my_py_pkg.listener:main',
  'camera_node = my_py_pkg.camera:main',
  ],
}

cd ~/ros2_ws
colcon build --packages-select my_cpp_pkg
colcon build --packages-select my_cpp_pkg --event-handlers console_direct+

colcon build --packages-select pkg1 pkg2 pkg3
colcon build --packages-skip pkg_to_skip

colcon build --symlink-install
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Debug
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
colcon build --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON

ros2 pkg dependencies my_package
ros2 pkg dependencies my_package --all
ros2 pkg dependents my_package
ros2 pkg xml my_package