ROS2 Basic Development

Experiment 02 - Creating and Building Workspace Package

1. Create ROS2 Workspace Package

Create a new package directory in the development board system (can be in the user directory, e.g., /home/sunrise), name it ros2_ws, and create a subdirectory named src. Then send the arm_demo resource package to the ros2_ws/src directory in the development board system.

2. Build Compilation Environment (skip if already built)

Step 1: Install MoveIt 2

# For ROS 2 Humble (recommended)
sudo apt install ros-humble-moveit

Step 2: Verify MoveIt 2 Installation

# Find 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 rosdep commands with rosdepc)

Step 4: Modify CMakeLists.txt

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

Add after find_package(ament_cmake REQUIRED)

find_package(moveit_core REQUIRED)

Add to include directories

include_directories(include${moveit_core_INCLUDE_DIRS})

Step 5: Check and Add package.xml Dependencies

Add to arm_demo/package.xml (skip if already present):

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

At this point, the working environment is set up!

Step 6: Build Workspace (Check working environment, using arm_demo package as example, skip if not available)

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