[ROS2] --- 手动编写一个节点

mkdir -p ~/dev_ws/src
cd ~/dev_ws/src

ros2 pkg create learning01_write_a_node --build-type ament_cmake --dependencies rclcpp

#include "rclcpp/rclcpp.hpp"
int main(int argc, char **argv)
{
    rclcpp::init(argc, argv);
    /*产生一个Wang2的节点*/
    auto node = std::make_shared<rclcpp::Node>("wang2");
    // 打印一句自我介绍
    RCLCPP_INFO(node->get_logger(), "hello world");
    /* 运行节点，并检测退出信号*/
    rclcpp::spin(node);
    rclcpp::shutdown();
    return 0;
}

add_executable(learning01_write_a_node src/learning01_test.cpp)
ament_target_dependencies(learning01_write_a_node rclcpp)
install(TARGETS
  learning01_write_a_node
  DESTINATION lib/${PROJECT_NAME}
)

cd ~/dev_ws/
colcon build
source install/setup.sh 
ros2 run learning01_write_a_node learning01_write_a_node

ros2 run <package_name> <executable_name>

# 创建功能包
ros2 pkg create <package-name>  --build-type  {cmake,ament_cmake,ament_python}  --dependencies <依赖名字>
#  列出可执行文件
ros2 pkg executables <package_name>
# 列出所有的包
ros2 pkg list