Create a ROS 2 Workspace

Create Your First ROS 2 Workspace

mkdir -p "$HOME/ros2_ws/src"
cd "$HOME/ros2_ws/src"

ros2 pkg create \
  --build-type ament_python \
  --node-name hello_node \
  my_first_pkg

cd "$HOME/ros2_ws"
colcon build --symlink-install
source install/setup.bash

Run the node you just created:

ros2 run my_first_pkg hello_node

Whenever you use this workspace in the future, run:

source /opt/ros/humble/setup.bash
source "$HOME/ros2_ws/install/setup.bash"

You can also add the workspace environment to ~/.bashrc:

grep -Fqx 'source "$HOME/ros2_ws/install/setup.bash"' "$HOME/.bashrc" || \
  printf '%s\n' 'source "$HOME/ros2_ws/install/setup.bash"' >> "$HOME/.bashrc"

ROS 2 Humble Desktop, RViz2, the development tools, and the workspace are now ready to use.

Create a ROS 2 Workspace

Create Your First ROS 2 Workspace

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