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FAROL New Packages Scripts

Description

Bash scripts for making new packages and nodes in a more consice manner. Using these scripts allows the stack to have a uniform and common structure, improving code readability and consequently easier to understand.

Scripts

File Usage via Alias Output
farol_create_ros_pkg_cpp.sh farol_pkg_cpp c++ package
farol_create_ros_pkg_py.sh farol_pkg_py python package
farol_create_ros_pkg_meta.sh farol_pkg_meta meta package

Note: The scripts automatically compile the package. After execution you will be inside the package folder.

Example fiic_awesome package (meta, c++, python)

What you get

After running the following commands in terminal (please follow the same order):

medusa_pkg_meta fiic_awesome 
medusa_pkg_cpp fiic_awesome_cpp 
cd ..
medusa_pkg_py fiic_awesome_py
cd ../../
tree

After running the commands successfully you will get the following tree structure:

.
├── fiic_awesome
│   ├── CMakeLists.txt
│   ├── docs
│   │   └── README.md
│   └── package.xml
│
│
├── fiic_awesome_cpp
│   ├── CMakeLists.txt
│   ├── config
│   │   └── config_fiic_awesome_cpp.yaml
│   ├── docs
│   │   └── README.md
│   ├── include
│   │   ├── fiic_awesome_cpp_algorithms
│   │   │   └── FiicAwesomeCppAlgorithm.h
│   │   └── fiic_awesome_cpp_ros
│   │       └── FiicAwesomeCppNode.h
│   ├── launch
│   │   └── fiic_awesome_cpp.launch
│   ├── package.xml
│   ├── src
│   │   ├── fiic_awesome_cpp_algorithms
│   │   │   └── FiicAwesomeCppAlgorithm.cpp
│   │   └── fiic_awesome_cpp_ros
│   │       └── FiicAwesomeCppNode.cpp
│   └── test
│       └── fiic_awesome_cpp_test.cpp
│
│
└── fiic_awesome_py
    ├── CMakeLists.txt
    ├── config
    │   └── config_fiic_awesome_py.yaml
    ├── docs
    │   └── README.md
    ├── launch
    │   └── fiic_awesome_py.launch
    ├── package.xml
    ├── scripts
    │   └── fiic_awesome_py_node
    ├── setup.py
    ├── src
    │   ├── fiic_awesome_py_algorithms
    │   │   ├── FiicAwesomePyAlgorithm.py
    │   │   ├── FiicAwesomePyAlgorithm.pyc
    │   │   ├── __init__.py
    │   │   └── __init__.pyc
    │   └── fiic_awesome_py_ros
    │       ├── FiicAwesomePyNode.py
    │       ├── FiicAwesomePyNode.pyc
    │       └── __init__.py
    └── test
        └── fiic_awesome_py_test.py

23 directories, 29 files

Details

In all scripts

Feature Description
Package folders names should always be lower case and separated by underscore. Even if you introduce capital letters the script will make them lowercase. The underscore is up to you to follow it.
Ros Code part In dedicated folders ending with _ros and files ending with Node.
Algorithm Code part YES we want to make the algorithm part standalone. The idea is to have cleaner code and also make possible to use the algorithms in another middleware. In dedicated folders ending with _algorithms and files ending with Algorithm
Ros Nodes Are implemented as classes and use Timer calbacks instead of the classical ros::Rate/while loop/ros_sleep/ rosspin
Class names Are like MyClassName first letter uppercase and the rest camelcase
Function Names Regular camelcase: myFunctionName
variables lowercase and separated by underscores: my_variable_example
Parameters from parameter server start with p_ followed by parameter name: p_my_super_parameter
Files that have classes Will have the same name as the class

medusa_pkg_cpp fiic_awesome

Creates Description Details
fiic_awesome_cpp Folder with cpp node Everything ready.
CMakeLists.txt CMake for ros c++17 ready: add_compile_options(-std=c++17); executable: fiic_awesome_cpp_node -> package_name+_node
docs/Readme.md Folder with a Readme file for documentation Empty, please use it
package.xml Simple package manifest Already format 2. As dependencies has std_msgs, rospy and medusa_msgs by default
launch launch file for the node Has xml header, thank god. Also it has an example with what you should had to the file and alredy configured to be launched.
src Where the code lives ROS and Algorithms code separated in two different folders. Configure CMakeLists.txt properly, but in doubt see what is done and follow the recipe.
test Isolated code to test the node Empty now, maybe in a future
config Has yaml file where you can add parameters to be loaded into the parameter server just node_frequency, feel free to add more params
include Declarations (.h files) of your code. ROS and Algorithms declarations separated in two different folders.

medusa_pkg_py fiic_awesome

Creates Description Details
fiic_awesome_py Folder with python node Everything ready.
CMakeLists.txt CMake for ros has setup configuration: catkin_python_setup();
docs/Readme.md Folder with a Readme file for documentation Empty, please use it
package.xml simple package manifest Already format 2. As dependencies has std_msgs, rospy and medusa_msgs by default
launch launch file for the node Has xml header, thank god. Also it has an example with what you should had to the file and alredy configured to be launched.
scripts It will be your node executable Executable: fiic_awesome_py_node, this mimics the executable of c++. Without this you should run the .py file (FiicAwesomePyNode.py). You should look the file as a recipe for future implementation, without using the create package script.
src where the code lives ROS and Algorithms code separated in two different folders.
test Isolated code to test the node Empty now, maybe in a future
setup.py Tells in what folders the code is For this to work every folder with python code should have an empty init.py file. Again look the file as recipe if you decide to create packages without using the script to create packages.
config Has yaml file where you can add parameters to be loaded by the parameter server just node_frequency
Last update: November 4, 2022