Main/99 Work/0 OneSec/OneSecNotes/30 Engineering Skills/Robotics/ROS2/ROS2.md

• #todo/b Write overview of what ros2 does in my own words. Advantages / disadvantages

Build System

The ROS2 build systemis a challenging part, because packages written in different languages such as C++ or Python need to be built together in order to form a unit. To achieve this ROS2 relies heavily on the Colcon build system, which under the hood uses CMake for C++ packages and setuptools for Python. In order to define dependencies across the different packages and languages, ROS2 packages always contain a package.xml file also known as manifest file that contains essential metadata about the package, such as dependencies and others.