RobotHubCourse outline

ROS 2 Lyrical Luth · Lesson 06 of 8

Workspaces and packages

Build with colcon, structure ament_cmake packages and manage dependencies.

Estimated time · 45–75 min

Guided lesson

Work through these steps

  1. 1.

    Source the ROS 2 Lyrical environment in a fresh terminal.

  2. 2.

    Run the workspaces and packages inspection commands before creating code.

  3. 3.

    Build only the affected package, then source the workspace overlay.

  4. 4.

    Inspect the ROS graph and verify the result from a second terminal.

Example

Try it yourself

mkdir -p ~/robot_ws/src
cd ~/robot_ws
colcon build
source install/setup.bash

Practical exercise

Apply the lesson

Create a minimal ROS 2 workspace demonstration for workspaces and packages, then prove it works with the ROS 2 CLI.

Before you continue

  • ROS_DISTRO reports lyrical
  • The workspace builds without errors
  • The expected node, topic, service, or action is visible in the graph