ros2-package

# ROS 2 Package Creation & Build Wiring (Ubuntu 24.04 LTS & ROS 2 Jazzy) Most "it built fine but doesn't run" bugs are wiring, not code. This skill covers the seams between a source file and a runnable node. ## 1. Documentation Entry Points | For | Entry point | | :--- | :--- | | ament_cmake reference (install, exports, testing hooks) | `https://docs.ros.org/en/jazzy/How-To-Guides/Ament-CMake-Documentation.html` | | Package creation, custom interfaces, colcon tutorials | `https://docs.ros.org/en/jazzy/Tutorials/` | Ground truth beats both: read a working installed package under `/opt/ros/jazzy/share/<pkg>/` and copy its structure. ## 2. Scaffolding ```bash ros2 pkg create --build-type ament_cmake --license Apache-2.0 --node-name my_node my_package ros2 pkg create --build-type ament_python --license Apache-2.0 --node-name my_node my_package ``` Created: `ament_cmake` → `CMakeLists.txt`, `package.xml`, `src/`, `include/my_package/`. `ament_python` → `setup.py`, `setup.cfg`, `package.xml`, `resource/my_package`, `my_package/`. Never hand-roll this layout — `resource/<pkg>` and the ament index registration are easy to omit and the package then silently fails to be discovered. ## 3. The Wiring That Makes a Node Runnable ### ament_cmake ```cmake find_package(rclcpp REQUIRED) add_executable(my_node src/my_node.cpp) ament_target_dependencies(my_node rclcpp) # links deps AND their headers install(TARGETS my_node DESTINATION lib/${PROJECT_NAME}) # exact ...