Deliverable 1: create a package named lab1_pkg in the workspace we created. The package needs to meet these criteria:

• The package supports both Python and C++.
• The package needs to have the ackermann_msgs dependency.
• Both of these can be done by declaring the correct dependencies in package.xml.
• If declared properly the depencies could be installed using rosdep.
• Your package folder should be neat. You shouldn't have multiple 'src' folders or unnecessary 'install' or 'build' folders.

Source ROS2 installation and created ROS2 workspace.

source mk/opt/ros/foxy/setup.bash
mkdir ros2_labs_ws
mkdir ros2_labs_ws/src

Create package

ros2 pkg create --build-type ament_cmake lab1_pkg

This created a package with the required C++ support. Now, for Python and the "ackermann_msgs" dependency:

Navigate to the package folder:

cd /ros2_labs_ws/src/lab1_pkg

In the package.xml file , modify it to include Python support and the "ackermann_msgs" dependency.

Add the following

	<buildtool_depend>ament_cmake</buildtool_depend>
  <buildtool_depend>ament_cmake_python</buildtool_depend>

  <depend>rclcpp</depend>
  <depend>rclpy</depend>

  <depend>ackermann_msgs</depend>

Navigate back to the root of the ROS2 workspace and build the package:

cd ..
colcon build --packages-select lab1_pkg