Creating packages.md

C++ package

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

ros2 pkg create --build-type ament_cmake --node-name my_node my_package

Python package

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

ros2 pkg create --build-type ament_python --node-name my_node my_package

Building packages

colcon build

---

--symlink-install is used to create shared directory for python scripts and not rebuild many times

---

--packages-select my_package is used to build only selected packages as example -- my package

REMEMBER TO SOURCE WORK-SPACES AFTER BUILDING

source install/setup.sh

Adding [[Nodes|nodes]] & types of [[Nodes#header|messages]] to packages C++

add the following lines to CMakeLists.txt

add_executable($NODE_NAME$ src/$PACKAGE_NAME$/main.cpp src/$PACKAGE_NAME$/$INHERITATE$.cpp  ...)

ament_target_dependencies(task1_spiral rclcpp geometry_msgs)
#geometry_msgs - is a message
  

install(TARGETS
custome_node_1
custome_node_2

DESTINATION lib/${PROJECT_NAME})