ROS2 创建自己的包

amnet 目前还没有类似catkin_created的命令，但是ros2自带的有

ros2 pkg create命令

• 创建包 ros2 pkg create test 会创建一个名为test的包
• ros2 pkg create test --dependencies std_msgs rclcpp 创建包时添加 std_msgs和rclcpp依赖
• ros2 pkg create test --cpp-node-name my_test 创建包时创建名为my_test节点,内容如下:

#include <cstdio>

int main(int argc, char ** argv)
{
  (void) argc;
  (void) argv;

  printf("hello world my_test package\n");
  return 0;
}

• ros2 pkg create test --cpp-library-name my_test 创建包时创建名为mytest的库，在include/test/会生成my_test.hpp和visibility_control.h
• ros2 pkg create test --dependencies std_msgs rclcpp --cpp-node-name my_node --cpp-library-name my_lib 创建一个包含节点和库的包，并且依赖std_msgs和rclcpp，可以看到结果

going to create a new package
package name: test
destination directory: /home/wxx/ros2_ws/src/wxxtest
package format: 2
version: 0.0.0
description: TODO: Package description
maintainer: ['wxx <[e-mail]>']
licenses: ['TODO: License declaration']
build type: ament_cmake
dependencies: ['std_msgs', 'rclcpp']
cpp_node_name: my_node
cpp_library_name: my_lib
creating folder ./test
creating ./test/package.xml
creating source and include folder
creating folder ./test/src
creating folder ./test/include/test
creating ./test/CMakeLists.txt
creating ./test/src/my_node.cpp
creating ./test/include/test/my_lib.hpp
creating ./test/src/my_lib.cpp
creating ./test/include/test/visibility_control.h