ROS2_DOCKER

Create package

create a cmake package

ros2 pkg create <package_name> --build-type ament_cmake

create a python package

ros2 pkg create <package_name> --build_type ament_python

Build the workspace

build everything

colcon build

Only process a subset of packages and their recursive dependencies

colcon build --package-up-to 

Use symlinks instead of copying files where possible (ex. install directory)

colcon build --symlink-install

environment.sh

source this file for env variable setup

source environment.sh

package.xml

Important for linking dependency of the package

<depend>...</depend>
<exec_depend>...</depend>

setup.py

Important for install files into ros2 file architecture ex. launch files, source code .py files

launch file

launch files are written in python. With file extension such as .launch.py