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

code
# Or open a specific directory
code ~/ros2_ws

# 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
}

# From the workspace root directory
cd ~/ros2_ws

# Generate compile_commands.json during the build
colcon build --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON

# Create a symbolic link to the src directory (optional, useful for some tools)
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,
  "python.linting.pylintArgs": [
  "--rcfile=${workspaceFolder}/.pylintrc"
  ]
}

{
  "version": "2.0.0",
  "tasks": [
  {
  "label": "colcon build",
  "type": "shell",
  "command": "colcon build --symlink-install",
  "group": {
  "kind": "build",
  "isDefault": true
  },
  "problemMatcher": [],
  "presentation": {
  "reveal": "always",
  "panel": "new"
  }
  },
  {
  "label": "colcon build (selected package)",
  "type": "shell",
  "command": "colcon build --symlink-install --packages-select ${input:packageName}",
  "group": "build",
  "problemMatcher": []
  },
  {
  "label": "source workspace",
  "type": "shell",
  "command": "source install/setup.bash && echo 'Workspace sourced'",
  "problemMatcher": []
  },
  {
  "label": "clean build",
  "type": "shell",
  "command": "rm -rf build install log && colcon build --symlink-install",
  "group": "build",
  "problemMatcher": []
  }
  ],
  "inputs": [
  {
  "id": "packageName",
  "type": "promptString",
  "description": "Enter package name to build"
  }
  ]
}

{
  "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",
  "setupCommands": [
  {
  "description": "Enable pretty-printing",
  "text": "-enable-pretty-printing",
  "ignoreFailures": true
  }
  ]
  }
  ],
  "inputs": [
  {
  "id": "packageName",
  "type": "promptString",
  "description": "Package name"
  },
  {
  "id": "executableName",
  "type": "promptString",
  "description": "Executable name"
  }
  ]
}

{
  "name": "ROS2: Python Node",
  "type": "python",
  "request": "launch",
  "module": "rclpy.executors",
  "args": [
  "${workspaceFolder}/install/${input:packageName}/lib/${input:packageName}/${input:moduleName}"
  ],
  "console": "integratedTerminal",
  "env": {
  "ROS_DOMAIN_ID": "0",
  "PYTHONPATH": "${workspaceFolder}/install/${input:packageName}/lib/python3.10/site-packages:${env:PYTHONPATH}"
  }
}

{
  "ros.distro": "humble",
  "ros.pythonPath": "/usr/bin/python3",
  "ros.defaultWorkspace": "${workspaceFolder}",
  "ros.rosSetupScript": "/opt/ros/humble/setup.bash",
  "ros.rosWorkspace": "${workspaceFolder}",
  "files.associations": {
  "*.world": "xml",
  "*.urdf": "xml",
  "*.xacro": "xml",
  "*.rviz": "yaml",
  "*.launch.py": "python"
  }
}

sudo apt install terminator

Operations within the same tab:
Alt+Up  // Move to the terminal above
Alt+Down  // Move to the terminal below
Alt+Left  // Move to the terminal on the left
Alt+Right  // Move to the terminal on the right
Ctrl+Shift+O  // Split the terminal horizontally
Ctrl+Shift+E  // Split the terminal vertically
Ctrl+Shift+W  // Close the current terminal
Ctrl+Shift+Q  // Quit the current window
Ctrl+Shift+T  // Open a new tab

sudo apt install git

git init
git add .
git commit

# Createworkspacedirectory
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws

# Viewdirectory structure
tree -L 2

# Install `colcon` and common extensions
sudo apt install -y python3-colcon-common-extensions

# VerifyInstall
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>

# Development and debugging configuration (recommended)
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Debug

# Release configuration
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release

# Generate the compile command database (for VS Code)
colcon build --symlink-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON

# Detailed output (for debugging build issues)
colcon build --event-handlers console_direct+

# Correct source order (from bottom to top)
source /opt/ros/humble/setup.bash
source ~/ros2_ws/install/setup.bash
source ~/overlay_ws/install/setup.bash

# Source the workspace environment
source install/setup.bash

# Verify the environment variables
echo $ROS_DOMAIN_ID
echo $AMENT_PREFIX_PATH
echo $LD_LIBRARY_PATH

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

# List all available packages
ros2 pkg list

# List the path of a specific package
ros2 pkg prefix <package_name>

# List packages in the workspace `src` directory
find src -maxdepth 2 -name package.xml -exec dirname {} \;

# View package metadata
ros2 pkg xml <package_name>

# View package dependencies
ros2 pkg dependencies <package_name>

# Export the package list
ros2 pkg list > packages_list.txt

# Run a full build for the first time
colcon build

# After modifying the code of a package
# Rebuild only that package and its dependents
colcon build --packages-select <modified_package>

# Clean and rebuild a single package
colcon build --packages-select <package_name> --cmake-force-configure

# Clean and rebuild the entire workspace
rm -rf build install log
colcon build

# Build and run all tests
colcon test

# Run tests for a specific package
colcon test --packages-select <package_name>

# View test results
colcon test-result --all
colcon test-result --verbose

# Clean build artifacts
rm -rf build/ install/ log/

# Or use colcon cleanup features
colcon clean --all

# Clean a specific package
colcon clean --packages-select <package_name>

cd ~/ros2_ws/src

# Create a basic C++ package
ros2 pkg create --build-type ament_cmake my_cpp_pkg

# Create a C++ package with dependencies
ros2 pkg create --build-type ament_cmake \
  --dependencies rclcpp std_msgs \
  my_robot_controller

# Create a complete C++ package structure
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

# Create a basic Python package
ros2 pkg create --build-type ament_python my_py_pkg

# Create a Python package with dependencies
ros2 pkg create --build-type ament_python \
  --dependencies rclpy std_msgs \
  my_python_package

# Create a Python package that includes nodes
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">
  <!-- Basic information -->
  <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>

  <!-- Build tools -->
  <buildtool_depend>ament_cmake</buildtool_depend>

  <!-- Dependencies -->
  <depend>rclcpp</depend>
  <depend>std_msgs</depend>

  <!-- Test dependencies -->
  <test_depend>ament_lint_auto</test_depend>
  <test_depend>ament_lint_common</test_depend>

  <!-- Export information -->
  <export>
  <build_type>ament_cmake</build_type>
  </export>
</package>

<!-- C++ support -->
<depend>rclcpp</depend>

<!-- Python support -->
<depend>rclpy</depend>

<!-- Standard messages -->
<depend>std_msgs</depend>

<!-- Geometry messages -->
<depend>geometry_msgs</depend>

<!-- Sensor messages -->
<depend>sensor_msgs</depend>

<!-- Navigation messages -->
<depend>nav_msgs</depend>

<!-- TF2 transforms -->
<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': [
  # Node name = module path:function name
  'talker = my_py_pkg.talker:main',
  'listener = my_py_pkg.listener:main',
  'camera_node = my_py_pkg.camera:main',
  ],
}

cd ~/ros2_ws

# Build a specified package
colcon build --packages-select my_cpp_pkg

# Build and show detailed output
colcon build --packages-select my_cpp_pkg --event-handlers console_direct+

# Use symbolic-link install (recommended during development)
colcon build --symlink-install

# Build in Debug mode
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Debug

# Build in Release mode
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release

# Generate the compile command database
colcon build --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON

# View the package direct dependencies
ros2 pkg dependencies my_package

# View all dependent packages (recursive)
ros2 pkg dependencies my_package --all

# View which packages depend on this package
ros2 pkg dependents my_package

# View package metadata
ros2 pkg xml my_package