Package mapping with bloom
ROS2’s build farm, known as bloom provides a direct translation between a typical ROS2 package and its debian counterpart.
Given a ros2 package:
my_robot_pkg/
├── package.xml # ROS2 package metadata
├── CMakeLists.txt # Build instructions
├── src/ # C++ source
├── include/ # Headers
├── launch/ # Launch files
└── config/ # Parameters
Bloom does a mapping:
package.xml→debian/controlCMakeLists.txt→debian/rulesand dependencies into their respective debian dependencies
Using bloom
colcon build...
bloom-generate rosdebian --os-name ubuntu --ros-distro ROS_DISTROThis generates a debian/ with all the stuff. And that’s all folks…
Creating an APT Repository
Hosting a basic apt repository is not too bad, can be hosted with github pages or directly on ubuntu PPA.