系统安装路径：C:\opt\ros\galactic
系统安装参考：ROS2在windows上的安装。
什么是colcon？
在ROS2中的构建工具是colcon，这非常类似我们在ROS中使用的catkin_make。
下面我们打开一个命令窗口，
call C:\opt\ros\galactic\x64\setup.bat
然后，新建一个路径
~> mkdir examples_ws\src
~> cd examples_ws\src
~examples_ws\src> git clone -b galactic-devel https://github.com/ros2/examples.git
~examples_ws\src> cd ..
~examples_ws> colcon build另外，我们也可以试一下那个demos
~> mkdir demos_ws\src
~> cd demos_ws\src
~demos_ws\src> git clone -b galactic-devel https://github.com/ros2/demos.git
~demos_ws\src> cd ..
~demos_ws> colcon build比如我第一次构建的结果是这样的，
D:\ros2prj\demo_ws>colcon build
[0.755s] root DEBUG Using proactor: IocpProactor
Starting >>> action_tutorials_interfaces
Starting >>> dummy_map_server
Starting >>> dummy_sensors
Starting >>> pendulum_msgs
Starting >>> composition
Starting >>> demo_nodes_cpp
Starting >>> demo_nodes_cpp_native
Starting >>> demo_nodes_py
Starting >>> image_tools
Starting >>> intra_process_demo
Starting >>> lifecycle
Starting >>> logging_demo
Finished <<< demo_nodes_py [1.61s]
Starting >>> quality_of_service_demo_cpp
Finished <<< dummy_map_server [4.20s]
Starting >>> quality_of_service_demo_py
Finished <<< dummy_sensors [4.80s]
Starting >>> topic_monitor
Finished <<< lifecycle [5.20s]
Starting >>> topic_statistics_demo
Finished <<< quality_of_service_demo_py [1.34s]
Starting >>> dummy_robot_bringup
Finished <<< topic_monitor [1.34s]
Finished <<< pendulum_msgs [7.11s]
Starting >>> pendulum_control
Finished <<< action_tutorials_interfaces [7.36s]
Starting >>> action_tutorials_cpp
Starting >>> action_tutorials_py
Finished <<< dummy_robot_bringup [1.99s]
Finished <<< action_tutorials_py [2.16s]
Failed <<< demo_nodes_cpp_native [10.1s, exited with code 1]
Aborted <<< image_tools [11.6s]
Aborted <<< demo_nodes_cpp [12.0s]
Aborted <<< composition [12.7s]
Aborted <<< intra_process_demo [13.9s]
Aborted <<< quality_of_service_demo_cpp [13.3s]
Aborted <<< topic_statistics_demo [10.8s]
Aborted <<< logging_demo [16.0s]
Aborted <<< pendulum_control [9.20s]
Aborted <<< action_tutorials_cpp [11.2s]
Summary: 10 packages finished [18.9s]
1 package failed: demo_nodes_cpp_native
9 packages aborted: action_tutorials_cpp composition demo_nodes_cpp image_tools intra_process_demo logging_demo pendulum_control quality_of_service_demo_cpp topic_statistics_demo未完待续
