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Use the ROS2 pkg create command to create .
pkg create
ros2 pkg create my_py_pkg --build-type ament_python --dependencies rclpy
This will create a new folder that includes the dependencies needed for this package (the rclpy library), as well as the files required to install this such as the setup.py file.
rclpy
setup.py
The package.xml file is also created. This contains the version, description, maintainer contact details as well as the licence type. It also contains the depednecnies for this package; the rcply library we specified.
package.xml
rcply
Lets build the new package
colcon build
1 package had sdrerr output: If you get and error message that says: Summary: 1 package finished [3.60s] 1 package had stderr output: my_py_pkg This was because there is a bug in the setuptooldependency package, we can fix this by using a known good version of pip3: Install pip3 - from the docker terminal type: sudo apt update && sudo apt install pip -y Downgrade pip - from the docker terminal type: pip install setuptools==58.2.0 This should fix the error; type colcon build again to successfully build the package.
If you get and error message that says:
Summary: 1 package finished [3.60s] 1 package had stderr output: my_py_pkg
This was because there is a bug in the setuptooldependency package, we can fix this by using a known good version of pip3:
sudo apt update && sudo apt install pip -y
pip install setuptools==58.2.0
This should fix the error; type colcon build again to successfully build the package.
We need to fix the permissions to edit files in these folders, from with VSCode:
chmod 777 -R my_py_pkg/
<depend>rclpy</depend>
<depend>std_msgs</depend>
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