1 Workspace

1.1 Workspace

colcon build

1.2 Install dependency packages

rosdep install -i --from-path src --rosdistro galactic -y

1.3 Building the package

colcon build

1.4 Compilation options

colcon build
    --packages-select <pkg_name>    # Compile only the specified package

    --symlink-install                # Use matching links instead of copying files

    --packages-ignore                # Ignore the specified package

    --continue-on-error                # After compiling errors, compile other packages

    --cmake-args                    # Pass arguments to the corresponding package
    --ament-cmake-args
    --catkin-cmake-args

2 Packages

2.1 Creating packages

ros2 pkg create --build-type ament-cmake <package_name>