创建workspace & ros-package

• macos

  # source ros env
  . ~/ros2_install/ros2-osx/setup.zsh
  
  # create dir
  mkdir -p ~/dev_ws/s
  cd ~/dev_ws/src
  
  # create a pkg in src
  ros2 pkg create --build-type ament_cmake <package_name> --dependencies <dep1> <dep2>
  
  # build
  cd ~/dev_ws
  colcon build
  

source ws

• macos

  cd ~/dev_ws
  . install/setup.zsh
  

run package

• macos

  ros2 run <package_name> <node_name>