1 00:00:05,700 --> 00:00:15,420 now we will create a ros package our first customized Ros package now what is a Ros package? Ros package is 2 00:00:15,420 --> 00:00:22,740 an organized unit that will contain your code if you want your code to be installed and you 3 00:00:22,740 --> 00:00:31,200 want to utilize it execute it then you need to specify in organize manner in inside of package 4 00:00:31,200 --> 00:00:39,420 we previously have one package in our SRC we will delete it we downloaded that package and now we 5 00:00:39,420 --> 00:00:46,920 are going to create our own package so here is a package structure the package contains cmake list 6 00:00:47,520 --> 00:00:55,560 and include a slash package and package.xml and SRC and the loss package can have one of the two 7 00:00:55,560 --> 00:01:03,780 build type it can be either ament python or ament C make so we are going to use the cmake build 8 00:01:03,780 --> 00:01:10,200 type we are not going to use the python and where we need to use this cmake because we want 9 00:01:11,040 --> 00:01:16,440 C plus plus nodes in our package if we if you want to use python in our package we 10 00:01:16,440 --> 00:01:21,720 will consider the python build but now we are going to use the cmake as 11 00:01:21,720 --> 00:01:28,200 the robot that we are going to make will be using a lot of C plus plus nodes okay 12 00:01:31,380 --> 00:01:37,860 C make list dot txt that file will be describing that how to build the code 13 00:01:37,860 --> 00:01:45,600 inside the package and there will be include and slash package name this will be containing the 14 00:01:45,600 --> 00:01:53,100 header files and the package.xml will be meta information about the package and the 15 00:01:53,100 --> 00:02:00,780 SRC will be containing our source code and in the main workspace there can be 16 00:02:01,440 --> 00:02:10,020 several packages inside the SRC as you can see it in the SRC folder there are C plus plus package 17 00:02:10,020 --> 00:02:15,840 package and C plus plus n package so they can be there is no limit but remember 18 00:02:17,040 --> 00:02:27,000 one package cannot be nested it means it cannot be dependent on the ament cmake or ament python it cannot 19 00:02:27,000 --> 00:02:34,620 be dependent on the both build types okay let's create our package I will go inside the ros2 20 00:02:34,620 --> 00:02:43,860 workspace SRC hit enter and here is the command to create your own customized package ros2 package 21 00:02:43,860 --> 00:02:50,760 create minus minus build Type ament cmake and then the package name but there is an optional 22 00:02:50,760 --> 00:02:57,060 argument as well that will be creating our node consider this command ros2 package create 23 00:02:57,060 --> 00:03:04,620 minus minus build Type ament cmake and then the node name this is the Node name and then this is 24 00:03:04,620 --> 00:03:12,600 the package we will configure this command Okay copy that and paste it here so what we are going 25 00:03:12,600 --> 00:03:20,580 to name our package and this is going to be the turtlesimbot the node should be like a mynode 26 00:03:20,580 --> 00:03:29,160 it's fine and we will hit enter and there we go it has created this package right here Turtlesimbot 27 00:03:29,160 --> 00:03:35,940 and this is going to be our package on which we will be working on and if you want to build this 28 00:03:35,940 --> 00:03:42,420 package then we will have to use colcon build or colcon build minus minus symlink install 29 00:03:42,420 --> 00:03:50,280 if we use this command this will be building all the packages that are residing inside the SRC 30 00:03:50,280 --> 00:03:56,820 currently we have one but if we have multiple packages in our workspace and we want to just 31 00:03:56,820 --> 00:04:04,200 build one then there is also a command exists and the this command name colcon build minus minus 32 00:04:04,200 --> 00:04:19,560 package Select and my package can go back and colcon build minus minus SymLink minus install 33 00:04:24,000 --> 00:04:30,900 okay it is installed source and so on setup dot Bash 34 00:04:34,440 --> 00:04:42,480 ros2 run Turtlesimbot and then there was a node that was my node 35 00:04:43,140 --> 00:04:50,280 hit enter and there you can see Hello World Turtle Sim bot package so the Node 36 00:04:50,280 --> 00:04:57,240 has printed this line it means our Node is working and if we open up this there are some 37 00:04:57,240 --> 00:05:03,960 bdirectories include that will contain header files currently does not have any and inside or 38 00:05:03,960 --> 00:05:14,760 SRC it is our node and these are the cmake list and package.xml no if we want to open up these 39 00:05:15,300 --> 00:05:24,000 files we will need an editor so I recommend you to go to your Ubuntu store and download vs code 40 00:05:24,000 --> 00:05:32,940 that is a lot helpful if you want to use it with ros uh code there will be some here here 41 00:05:33,720 --> 00:05:40,020 okay this is the code that you will install from here there will be an option in my case this is 42 00:05:40,020 --> 00:05:47,160 already installed if I want to open this package completely with the vs code what will I do I will 43 00:05:47,880 --> 00:05:56,220 click right opening terminal and code space Dot okay 44 00:05:58,260 --> 00:06:05,820 so it has opened the folder this is our folder so I will just open here 45 00:06:06,780 --> 00:06:11,700 and then there will be some recommendations to you here that if you want to install 46 00:06:11,700 --> 00:06:16,080 your Ros extension then you will come here to the extension and 47 00:06:17,700 --> 00:06:24,240 type ros there is the extension that you need to install you will go here and in my case this is already 48 00:06:24,240 --> 00:06:29,220 installed but you will be seeing an option here install and I will come to the files 49 00:06:32,700 --> 00:06:39,720 okay so here is the SRC and my node and here it is a small C plus plus 50 00:06:39,720 --> 00:06:47,160 node that is just printing this and whenever I try to run the node