ROS2_Learning

• 新建package

cd src
ros2 pkg create --build-type ament_cmake <package_name> --dependencies rclcpp # CMake
ros2 pkg create --build-type ament_python <package_name> # Python

• 构建

colcon build --packages-select

CMakeLists.txt

包含以下部分：头部、编译配置、

• 头部

cmake_minimum_required(VERSION 3.5)
cmake_policy(SET CMP0048 NEW)
project(<proj_name>)

• 编译配置Compile setup (ORIGINAL, CATKIN, COLCON)
• 项目配置Project details / setup
• 依赖配置Dependencies Setup
  find_package()
  include_directories()
• 构建配置Build Setup
  add_executable()、cuda_add_executable()
  target_link_libraries
• 安装配置？Install Setup
  install()