Style-Guide & Clean Code
ROS Packages
Although ROS packages can be compiled as long as they meet the catkin requirements (src folder, CMakeLists.txt and package.xml), it is recommended to structure them in the following way (example for the rbd_controller):
config
default.yaml
Parameters for the parameter serverconfig.rviz
Configuration file for Rviz<others>.yaml, <others>.rviz
Additional configuration files
include
rbd_controller
RbdController.hpp
Header file for the controller class
launch
rbd_controller.launch
Launch file for the controller node<others>.launch
Other launch files
src
RbdController.cpp
Implementation of the controller class and the corresponding subscribers, publishers and service servers/clientsrbd_controller_node.cpp
Main, initializes controller class and creates theROS::NodeHandle
CMakeLists.txt
Dependecies and build configurationLICENSE
MIT-licenseREADME.md
package.xml
Dependecies and build configuration
Coordinate Frames
The coordinate frames of the robot are defined as follows:
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