5. Key Rules You Must Remember Always work in a workspace (~/xxx_ws/src)

mkdir -p ~/my_robot_ws/src
cd ~/my_robot_ws/src

Always git clone into src/

git clone -b N10_V1.0 https://github.com/Lslidar/Lslidar_ROS2_driver.git

Always colcon build after adding new code

cd ~/my_robot_ws
rosdep install -i --from-path src --rosdistro humble -y
sudo apt install libpcap-dev
colcon build

Always source install/setup.bash in new terminals

source install/setup.bash

First launch the driver → then run your code

ros2 launch lslidar_driver lslidar_n10_launch.py

总结

colcon build
source install/setup.bash
ros2 run/launch my_lidar_listener listener/xxx.py

先build（建立你的代码）后source（将你的代码的环境启动）最后ros2 run(执行你的代码)

例子

cd ~/project
source install/setup.bash
ros2 launch yesense_std_ros2 yesense_node.launch.py # 启动这个launch的
ros2 node list # 测试节点列表

查看包是否被ros2识别

cd ~/project
source install/setup.bash
ros2 pkg list | grep yesense
ros2 pkg list | grep lslidar

ros2 node list 和 ros2 pkg list区别