# Как создать библиотеку в ROS2

1. Создать пакет

```bash
ros2 pkg create --build-type ament_python lib_package
```

2. В директории `your_ws/src/lib_package/lib_package` написать свою python-модули.
3. Если хотите изменить, дополнить поведение при импорте - правьте `__init__.py`
4. В `setup.py` нужно внести изменения

* Изменить импорты:

```python
# Было:
from setuptools import setup
# Стало:
from setuptools import find_packages, setup
```

* Изменить аргумент функции `setup()`:

```python
# Было:
packages=package_name,
# Стало:
packages=find_packages(exclude=["test"]),
```

5. `colocn build`
6. `source install/local_setup.bash`


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