NathanaelGandhi / ros2-tutorials-ws

ros2-tutorials-ws

Source the setup files

source /opt/ros/humble/setup.bash

or from the ws root

source source.sh

Check environment variables

printenv | grep -i ROS

Build the workspace

colcon build --symlink-install

colcon build

Only build a select package

colcon build --packages-select <package>

Run tests

colcon test

Source the environment

To source the overlay as well as the underlay it was created in

source install/setup.bash

To only source an overlay

source install/local_setup.bash

Resolve dependencies

Note: It is best practice to check for dependencies every time you clone

rosdep install -i --from-path src --rosdistro humble -y

Tutorial notes

ros2 param dump

Dumping params to a file example

ros2 param dump /turtlesim > turtlesim.yaml

This created turtlesim.yaml

This can be loaded with

ros2 param load /turtlesim turtlesim.yaml

Note: read-only params can only be modified at startup

To start a node with the saved params use:

ros2 run turtlesim turtlesim_node --ros-args --params-file turtlesim.yaml

Actions

Actions consist of three parts: a goal, feedback, and a result. See Understanding ROS2 Actions.

Note: Don’t assume every action server will choose to abort the current goal when it gets a new one.