package-name-and-structure

In order to create a new ROS package for one of the repositories some rules need to be considered:

1. The package name has always the following format:

    prefix_my_package_name

2. Use the right prefix for every repository: a. mas_domestic_robotics: mdr_ b. mas_industrial_robotics: mir_ c. mas_common_robotics: mcr_

3. Use lowercase.

4. Separate words in the package name by underscores ( _ ).

Examples for creating packages according to the above described rules are as follows:

catkin create_pkg mdr_grasp_planning
catkin create_pkg mir_whole_body_control
catkin create_pkg mcr_object_detection

Folder structure

Every ROS package within our repositories has to strictly match the following structure:

.
├── common
│   ├── config
│   ├── include
│   │   └── <package_name>
│   ├── src
│   │   └── <package_name>
│   ├── test
│   └── tools
├── ros
│   ├── config
│   ├── include
│   │   └── <package_name>
│   ├── launch
│   │   |— <package_name>.launch
│   ├── rviz
│   │   |— <package_name>.rviz
│   ├── scripts
│   │   └── <package_name>
│   ├── src
│   │   └── <package_name>_node
│   ├── test
│   └── tools
├── CMakeLists.txt
├── package.xml
├── setup.py
└── README.md

In short:

• ROS-independent code goes into the common folder

• the ros folder contains a ROS-wrapper for the functionality you are adding

Meta-packages

If the package you are creating is meant to contain other packages inside of it, it needs to have instead the following structure:

./<meta_package_name>
└── <meta_package_name>
    ├── CMakeLists.txt
    ├── package.xml
    └── README.md