1.小乌龟测试ros2安装
ros2 run turtlesim turtlesim_node
ros2 run turtlesim turtle_teleop_key
2.编译helloworld
下载个ROS2示例源码测试一下
git clone https://github.com/ros2/examples src/examples -b foxy.编译工程
colcon build
打开一个终端先source 一下资源
source install/setup.bash运行一个订杂志节点
ros2 run examples_rclcpp_minimal_subscriber subscriber_member_function打开一个新的终端，先source，再运行一个发行杂志节点
source install/setup.bash
ros2 run examples_rclcpp_minimal_publisher publisher_member_function
3.