Create a Package in ROS 2

Create Package

To create a new package head to your workspace (ros2_ws). Then move to src folder .

cd ~/ros2_ws/src

Run the below code line by changing my_package with the name of package you want to create.

ros2 pkg create --build-type ament_cmake  my_package

Example:

ros2 pkg create --build-type ament_cmake  car

You will get a similar folder structure once a package is created successfully.

├── CMakeLists.txt
├── include
│   └── car
├── package.xml
└── src

Build Package

Inorder to build your package move to your workspace folder.

cd ~/ros2_ws

Use the following command to build a selected package

colcon build --packages-select my_package

Example:

colcon build --packages-select car

Once the build is complete do not forget to source your setup. This will help to reflect all the changes you have made to your package.

source install/local_setup.bash