janneyow / sample_pkg

Sample ROS python package

Package structure

sample_pkg
 |- launch/
    |- sample_launch_file.launch
 |- scripts/
    |- sample_ros_node.py
 |- rviz/
    |- cfg.rviz
 |- src/
    |- sample_python_module/
      |- __init__.py
      |- main.py
      |- sample_class.py
      |- python_sub_module/
        |- __init__.py
        |- sub_class.py
 - CMakeLists.txt
 - LICENSE
 - package.xml
 - README.md
 - setup.py

Note that standard convention is to name the Python module the same as the ROS package name. They are named differently here for clarity.

Notes

1. Place python nodes in the scripts/ folder.
2. Python nodes have to be given execute permisions with chmod

   chmod +x scripts/sample_ros_node.py
   

   • ROS nodes do not need to have the .py extension, just need to include the shebang in the first line.
3. Place python modules and submodules under src/ folder.
   • Python requires each module to have an __init__.py file.
4. Naming conventions
   • Standard convention is to name the Python module the same as the ROS package name.
     • Note that in this package, the ROS package name and Python module names are named differently for clarity.
   • ROS node name should be the same as the script name.
5. Any rviz files can be stored in the rviz/ folder.

Running nodes

rosrun sample_pkg sample_ros_node

or

roslaunch sample_pkg sample_launch_file.launch

References:

1. ROS PyStyleGuide
2. ROS docs (Jade)
3. Understanding how python sources python modules