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Learn how to create custom ROS2 packages in the TurtleBot3 workspace for your own robot applications.

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Package types

ROS2 supports two main package types:
  • ament_cmake - For C++ packages and mixed C++/Python packages
  • ament_python - For pure Python packages

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Creating a C++ package

1

Navigate to source directory

cd /workspace/turtlebot3_ws/src
2

Create the package

ros2 pkg create --build-type ament_cmake my_package
This creates a new package with the basic structure:
my_package/
├── CMakeLists.txt
├── package.xml
├── include/my_package/
└── src/
3

Build the package

cd /workspace/turtlebot3_ws
colcon build --packages-select my_package
4

Source and test

source install/setup.bash
ros2 pkg list | grep my_package

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Creating a Python package

1

Navigate to source directory

cd /workspace/turtlebot3_ws/src
2

Create the package

ros2 pkg create --build-type ament_python my_python_package
This creates:
my_python_package/
├── package.xml
├── setup.py
├── setup.cfg
├── my_python_package/
│   └── __init__.py
├── resource/
└── test/
3

Build the package

cd /workspace/turtlebot3_ws
colcon build --packages-select my_python_package --symlink-install
Note: Use --symlink-install for Python packages to modify code without rebuilding.
4

Source and test

source install/setup.bash
ros2 pkg list | grep my_python_package

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Adding dependencies

Specify package dependencies in package.xml: 
<package format="3">
  <name>my_package</name>
  <version>0.0.1</version>
  <description>My custom package</description>
  <maintainer email="[email protected]">Your Name</maintainer>
  <license>Apache-2.0</license>

  <depend>rclcpp</depend>
  <depend>std_msgs</depend>
  <depend>geometry_msgs</depend>
  
  <exec_depend>turtlebot3_gazebo</exec_depend>
</package>
After adding dependencies, install them: 
cd /workspace/turtlebot3_ws
rosdep install --from-paths src --ignore-src -r -y

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Adding existing packages

To include external ROS2 packages:
1

Clone the repository

cd /workspace/turtlebot3_ws/src
git clone <package-repository-url>
2

Install dependencies

cd /workspace/turtlebot3_ws
rosdep install --from-paths src --ignore-src -r -y
3

Build the workspace

colcon build --symlink-install
4

Source and verify

source install/setup.bash
ros2 pkg list | grep <package-name>

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Package verification

After creating packages, verify they were correctly installed: 
# List all packages
ros2 pkg list

# Find specific package
ros2 pkg list | grep my_package

# Get package information
ros2 pkg prefix my_package

# Count total packages (from verify-setup.sh)
find src/ -name "package.xml" | wc -l
The default workspace contains multiple package.xml files from TurtleBot3 repositories.

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Best practices

  • Use descriptive package names that reflect functionality
  • Always specify dependencies in package.xml
  • Use --symlink-install for Python packages during development
  • Test packages immediately after creation
  • Commit package source code to version control
  • Document package purpose in the description field

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