```
ros2 pkg create example_parameters_rclcpp --build-type ament_cmake --dependencies rclcpp
```

```
ros2 pkg create example_parameters_rclpy --build-type ament_python --dependencies rclpy --node-name parameters_basic
```

```
ros2 pkg create example_parameters_rclcpp --build-type ament_cmake --dependencies rclcpp  --node-name parameters_basic
```


控制接口
```
ros2 pkg create robot_control_interfaces --build-type ament_cmake --dependencies rosidl_default_generators 
```

```
ros2 pkg create example_action_rclcpp --build-type ament_cmake --dependencies rclcpp robot_control_interfaces --node-name action_robot_cpp
action_control_cpp
```


```
ros2 pkg create example_action_rclpy --build-type ament_python --dependencies rclpy robot_control_interfaces --node-name action_robot_py
action_control_py
```