ros2_templates

The ROS 2 repository template. This repository may be used entirely as a base for your repository. Alternatively, specific components may be incorporated into your already defined repository structure to help organize things or allow implement them faster.

ros2_package

The ROS 2 C++ package template. A complete, able-to-build package with ROS-specific structures defined, following best practices of C++ and ROS 2 programming.

Incorporates

• ROS 2 node template with API objects defined (subscriber, publisher, service server, service client)
• Node configuration file
• Node launch file
• The CMakeFile.txt divided into understandable sections
• The package.xml able to resolve all dependencies with a rosdep tool
• Readme template
• Unit tests structure template -> TODO: to be completed

How to use

After building the package, the following custom API is available:

To easily configure the template to your needs, follow the steps:

• Rename files or directories:
  • config file
  • launch file
  • include directory
  • node header
  • node source code
  • node testing code
• Find and replace:
  • Changed files or directory names
  • All occurrences of the package and node names
  • A namespace with your project's namespace
• Modify source the code and other package components accordingly to your needs

Note: It is possible to easily replace all occurrences of a given sentence in vscode with ctrl+shit+h shortcut.