colcon.md

colcon cheat sheet

sudo apt-get install python3-colcon-common-extensions

Assuming the corresponding ROS 2 distribution is already sourced (. /opt/ros/<distro>/setup.bash).

Table of contents

• colcon cheat sheet
  • Table of contents
    • Create a workspace for colcon
      • colcon build

Create a workspace for colcon

mkdir -p  ~/ros2_ws/src
cd ~/ros2_ws

Note: To ignore a package, place a COLCON_IGNORE file in that package.

colcon build

# To build any package located in ~/ros2_ws/src
colcon build
# To build specific packages in ~/ros2_ws/src
colcon build --packages-select <pkg1> <pkg2>
# To build all except specific packages in ~/ros2_ws/src
colcon build --packages-skip <pkg1> <pkg2>
# To merge all install prefixed into a single location
colcon build --merge-install
# Avoid configuring and building tests
colcon build --cmake-args -DBUILD_TESTING=0

Use --packages-select-regex or --package-skip-regex instead of their corresponding ones for apply to all packages that have that pkg1 pattern in the package name