ROS2 Basics

Experiment 02 - Create and Build a Workspace Package

1. Create a ROS2 Workspace Package

In the board's system, create a new package directory (in the user directory, e.g., /home/sunrise), name it ros2_ws, and create a subdirectory under it named src. Then transfer the arm_demo resource package to the ros2_ws/src directory on the board's system.

2. Set Up the Build Environment (skip if already set up)

Step 1: Install MoveIt 2

For ROS 2 Humble (recommended)

sudo apt install ros-humble-moveit

Step 2: Verify the MoveIt 2 installation

Find the moveit_core package

ros2 pkg prefix moveit_core

Should return a path similar to:

Step 3: Update workspace dependencies

cd ~/ros2_ws
rosdep install --from-paths src --ignore-src -y

(If rosdep is not installed, install it first. If installation fails, refer to fishros's rosdepc and replace the rosdep command with rosdepc.)

Step 4: Modify CMakeLists.txt

In arm_demo/CMakeLists.txt, ensure the following key parts are present:

After find_package(ament_cmake REQUIRED), add

find_package(moveit_core REQUIRED)

Add to the include paths

include_directories(include${moveit_core_INCLUDE_DIRS})

Step 5: Check and add package.xml dependencies

In arm_demo/package.xml, add: (skip if already present)

<depend>moveit_core</depend>
<depend>moveit_ros_planning</depend>

The workspace environment is now set up!

Step 6: Build the workspace (verify the environment; using the arm_demo package as an example. If absent, replace with another package or skip.)

cd ~/ros2_ws && colcon build --packages-select arm_demo