Setup

• Add to ~/.bashrc:

  source /home/san/ros_ws/install/setup.sh
  
  

Create a Package

• Go to src folder:

  cd ~/ros_ws/src
  

ros2 pkg create <package_name> --build-type ament_python --dependencies rclpy

Build the Package

• Build all packages:

  cd ~/ros_ws
  colcon build
  
  

• Build a specific package:

  colcon build --packages-select <package_name>
  
  

Create a Node

• In ros_ws/src/<package_name>/, create node.py alongside __init__.py.

Install the Node

• Edit setup.py in <package_name>:

  • Add inside entry_points:

    "custom_executable_name = <package_name>.<node_filename>:main"
    
    

• Build again:

  cd ~/ros_ws
  colcon build
  
  

• Executable will be in install/ folder.

Run the Executable

Option 1: From anywhere

source ~/.bashrc
ros2 run <package_name> <custom_executable_name>

Option 2: From install folder

cd ~/ros_ws/install/<package_name>/lib/<package_name>
source ~/.bashrc
./<custom_executable_name>