ROS 2 Lyrical lab 03 · 60 min

Build an ament C++ package

Create a package with declared dependencies and an installable rclcpp executable.

Before you start

A working ~/robot_ws
C++ Beginner lesson 1

Files you will touch

src/robot_basics/package.xml
src/robot_basics/CMakeLists.txt
src/robot_basics/src/status_node.cpp

Step 1

Set up

cd ~/robot_ws/src
ros2 pkg create --build-type ament_cmake --license Apache-2.0 robot_basics --dependencies rclcpp std_msgs

Step 2

Create the file

#include <memory>
#include "rclcpp/rclcpp.hpp"

class StatusNode final : public rclcpp::Node {
public:
  StatusNode() : Node("status_node") {
    RCLCPP_INFO(get_logger(), "robot basics ready");
  }
};

int main(int argc, char ** argv) {
  rclcpp::init(argc, argv);
  rclcpp::spin(std::make_shared<StatusNode>());
  rclcpp::shutdown();
  return 0;
}

Step 3

Build, run and inspect

# Add an executable and install rule in CMakeLists.txt, then:
cd ~/robot_ws
colcon build --packages-select robot_basics --symlink-install
source install/setup.bash
ros2 run robot_basics status_node

Proof that it works

The package builds without warnings
ros2 run locates status_node
The log prints robot basics ready

Recovery notes

If the executable is not found, verify install(TARGETS status_node DESTINATION lib/${PROJECT_NAME}).
If a header is missing, add both find_package and ament_target_dependencies entries.

Creating a ROS 2 package