ROS 2 Workspace & Package Creation

Creating a ROS 2 Workspace, Building It, and Creating Python & C++ Packages

What is a ROS 2 Workspace?

A ROS 2 workspace is simply a folder on your PC that contains:

• All ROS 2 packages
• All source code for your robot
• Build and install artifacts generated by ROS 2 tools

Think of it as a container for all robot software.

This workspace acts as a ROS 2 overlay, meaning:

• You can use all default ROS 2 packages

Creating the Workspace Structure

Step 1: Open a New Terminal

Use Terminator (recommended).

Step 2: Create Workspace and src Folder

mkdir -p bumperbot_ws/src

• mkdir = make directory
• -p → creates parent folders if they don’t exist
• bumperbot_ws → workspace name
• src → source folder (mandatory for ROS 2)

Step 3: Verify Creation

ls

You should see bumperbot_ws

Exploring the Workspace

Move into Workspace

cd bumperbot_ws

List Contents

ls

• Workspace only contains source folder
• No ROS 2 structure yet

Initializing the Workspace with colcon

Build the Workspace

colcon build

• colcon is the ROS 2 build tool
• Converts source code (Python / C++) into executable files
• Generates required ROS 2 structure

Check Generated Folders

ls

ROS 2 Workspace Folder Structure

Creating ROS 2 Packages

Packages must always be created inside src/.

Python Package

cd src/

ros2 pkg create --build-type ament_python bumperbot_py_examples

ros2 pkg create, build-type <BUILD_SYSTEM> <PACKAGE_NAME>

• ros2 → ROS 2 command-line tool
• pkg → work with packages
• create → create a new package
• --build-type → defines how the package is built (most important)
• ament_python → Python-based package
  • ament → ROS 2 build system
  • python → Python-based package

C++ Package

ros2 pkg create --build-type ament_cmake bumperbot_cpp_examples

Rebuilding the Workspace

Go back to workspace root:

cd ..

colcon build

Now colcon:

• Detects 2 new packages
• Builds them
• Installs executables
  Build output confirms:
  • Packages found
  • Packages successfully compiled

Activating (Sourcing) the Workspace

ROS 2 must be explicitly informed about your workspace.

Open another Terminal (Important)

cd install

ls

. setup.bash

This makes the current terminal:

• Aware of bumperbot_ws
• Able to run its packages
• . = source (source setup.bash)

Verifying Package Recognition

ros2 pkg list

Open a New Terminal (Without Sourcing)

ros2 pkg list

In First bumperbot_* packages is visible and in second bumperbot_* packages is NOT visible