JosefGst / ros_talker_cookiecutter

"full" template for ros subscriber & publisher package in c++

{{cookiecutter.pkg_name}}

Contents

• Run
• Setup
• Published Topics
• Subscribed Topics
• Parameters
• Development
  • Debugging C++
  • Linting
  • Create Documentation
• TODO

I kept copying code from the official documentation or from my previous works every time I created a new ROS package. With this cookiecutter template I hope the repetitive setup task can be reduced and I can jump directly into the development. For now it includes a simple publisher and subscriber, dynamic reconfigurable parameters, documentation generation with rosdoc_lite, linting and c++ debug setup.

Setup

pipx install cookiecutter
cookiecutter [e-mail]:JosefGst/template_sub_pub.git

Choose name for the package, header and class.

Run

rosrun {{cookiecutter.pkg_name}} {{cookiecutter.pkg_name}}_node
rosrun {{cookiecutter.pkg_name}} {{cookiecutter.pkg_name}}_node _pub_string:="hello" _rate:=1
roslaunch {{cookiecutter.pkg_name}} {{cookiecutter.pkg_name}}.launch pub_string:="hello" rate:=1

Published Topics

• chatter std_msgs/String

Subscribed Topics

• cmd_vel (geometry_msgs/Twist)

Parameters

• rate (int,default:1)
  • publish rate of chatter" topic in [Hz]
• pub_string (string,default:"Hello World")
  • published string on chatter topic

Development

Debugging C++

1. Move the .vscode folder into the workspace directory.
2. Edit the launch.json file as necessary.
3. Run the "make_debug" task
4. Click the Debug button on the left side in vscode. Select "ROS:Launch" and click the the green arrow.

Alternatively attach to single node

In addition to the previous steps

1. Run the "ROS:Start" task
2. rosrun the node
3. Click the green debug button with ROS:attach selected

References

Polyhobbyist Youtube vscode-ros github

Linting

In root of workspace

catkin_make roslint_{{cookiecutter.pkg_name}}

create documentation

In root of package

rosdoc_lite .

To see the generated documentation website.

TODO

• make params reconfigurable
• debugging c++
• add tests
• github actions
• ros2 branch
• automatic documentation generation
• dockerization should be in separate docker_ws repo