ROS2 Journey IX

1. Creating a workspace

A workspace is a directory containing ROS 2 packages。

From the root of your workspace (ros2_ws), you can now build your packages using the command:

colcon build

Other useful arguments for colcon build:

• --packages-up-to builds the package you want, plus all its dependencies, but not the whole workspace (saves time)

• --symlink-install saves you from having to rebuild every time you tweak python scripts

• --event-handlers console_direct+ shows console output while building (can otherwise be found in the logdirectory)