Create ROS Workspace¶
In this exercise, we will create and build an empty ROS workspace.
Any ROS project begins with making a workspace. In this workspace, you will put all the things related to this particular project. In this module we will create the workspace where we will build the components of our Scan-N-Plan application.
Further Information and Resources¶
Additional details on what a ROS environment consists of and some basic checks you can run: Configuring a ROS2 Environment
Scan-N-Plan Application: Problem Statement¶
We have a good installation of ROS, and we need to take the first step to setting up our particular application. Your goal is to create a workspace for your application and its supplements.
Scan-N-Plan Application: Guidance¶
Create a Workspace¶
Close any open terminal windows. Open a new terminal and source the “humble” distribution.
Create the root workspace directory. Note that the required structure is a top-level directory and a
src/directory one level down. The directory name is a completely free choice. We will use
ros2_wsthroughout these tutorials.
cd ~/ mkdir --parents ros2_ws/src cd ros2_ws ls
Build the workspace from the workspace root-directory (
colcon build ls
See that the
ros2_wsdirectory now contains additional directories (build, install, log).
colcon buildmust always be run from the root of your workspace directory.
colcon buildfrom a terminal where you’ve also sourced this workspace’s setup file. Use a dedicated terminal for building.
These new directories can be safely deleted at any time. This is sometimes used to resolve unusual build errors by “starting with a clean slate”. Note that colcon never changes any files in the
colcon buildto re-create the build/install/log directories.
rm -r build/ install/ log/ ls colcon build ls
Make the contents of this workspace visible to ROS. Source the setup file in the install directory.
This file MUST be sourced for every new terminal.
This file will automatically include the ROS environment that was active when you first built this workspace. Make sure you have sourced the correct ROS distribution before building a new workspace for the first time!