![]() The project setup is done by ament_package() and this call must occur exactly once per package.Īment_package() installs the package.xml, registers the package with the ament index, and installs config (and possibly target) files for CMake so that it can be found by other packages using find_package. The argument to project will be the package name and must be identical to the package name in the package.xml. The basic outline of the CMakeLists.txt of an ament package contains:Ĭmake_minimum_required ( VERSION 3.5 ) project ( my_project ) ament_package () The CMakeLists.txt contains the commands to build and package executables and libraries and will be the main focus of this document. The package.xml must contain all dependencies and a bit of metadata to allow colcon to find the correct build order for your packages, to install the required dependencies in CI as well as provide the information for a release with bloom. The basic build information is then gathered in two files: the package.xml and the CMakeLists.txt. ROS 2 Technical Steering Committee CharterĪ basic CMake outline can be produced using ros2 pkg create on the command line.On the mixing of ament and catkin (catment).Building ROS 2 with tracing instrumentation.Visualizing ROS 2 data with Foxglove Studio.Working with multiple ROS 2 middleware implementations.Passing ROS arguments to nodes via the command-line.Migrating YAML parameter files from ROS 1 to ROS 2. ![]()
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