ROS 2 Template Workspace

Want to start developing a new ROS 2 feature or application? Clone this and get going.

Prerequisites

1. Install Docker
2. Install python workflow prerequisites

pip3 install vcstool rocker off-your-rocker

Usage

• Edit ws.repos to contain repositories relevant to development.

• Build your dev environment and start it:

mkdir src
vcs import src < ws.repos
DEVIMG=my-img ./tools/rebuild-img --build-arg ROS_DISTRO=rolling --build-arg UBUNTU_DISTRO=jammy
DEVIMG=my-img ./tools/startimg

In the container (basic ROS dev workflow):

source /opt/ros/$ROS_DISTRO/setup.bash
colcon build

To start a new shell in the running container,

DEVIMG=my-img ./tools/attach

Repos Files

For convenience working on ROS 2 core on live distributions, various .repos files are provided here in repos/. They are not meant to be combined - each is a standalone copy from https://github.com/ros2/ros2 ros2.repos at the relevant branch. I wouldn't trust these too much to be all the way up to date - again, they are merely a convenience for core development.