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An opinionated ROS2 C++ node template, optimised for ISC.

Instructions

  1. Clone repo inside your workspaces src directory (Ex. phnx_ws/src)
  2. rosdep install --from-paths . --ignore-src -r -y to install deps
  3. colcon build to make sure the repo builds before you mess with it
  4. Replace the following in both file names and code exactly and consistently.
    1. polynomial_planner: Replace with the package name. Use snake case. Ex. polynomial_planner
    2. PolynomialPlanner: Replace with the node name. Use Pascal case. Ex. PolynomialPlanner
  5. colcon build again. If it builds, you are done
  6. Rename outer folder
  7. Review the optional dependencies, and remove what you do not need

Dependencies

Some common extra dependencies are included. Review them and remove what you don't need. These are marked with TODO_EXTRA.

Features

  • Unit tests
  • ROS-Industrial github CI (will test units and lints)
  • C++ formatting via clangformat
  • A selection of sane lints
  • A single node setup in a multithreaded executor

File structure

.
├── include
│   └── polynomial_planner
│       └── PolynomialPlanner_node.hpp
├── package.xml
├── README.md
├── src
│   ├── PolynomialPlanner.cpp
│   └── PolynomialPlanner_node.cpp
└── tests
    └── unit.cpp

PolynomialPlanner_node: Source files for the ROS2 node object itself, and only itself

PolynomialPlanner.cpp: Source for the main function of the node, and only the main function

tests/unit.cpp: Example file for unit tests. This is linked to the node and ros, so both can be used