ros_interface.md

Creating the ROS node (Interface)

For each algorithm that the robot need to execute, should be created an ROS class node.

Files

• template_cpp_ros_pkg
  • include
    • ros_cpp_template
      • template_ros_interface.hpp
      • template_ros_interface2.hpp
  • src
    • template_ros_interface.cpp
    • template_ros_interface2.cpp

Programming Style

• Create a ROS node class.
• Define the subscriber and publisher.
  • For each 'subscriber' the 'callback' will include a method that adapts the 'ros message' to the equivalent data neccesary to call the 'set' method from the algorithm class.
  • For each 'publsher' we recomend define a method 'send' that includes the 'publish' method and the previously data traduction from the 'get' method until 'ros message' adaptation.
• Define a 'run' method in order to include a 'while' with a 'spin'. In the 'while' should me contains the main program loop.
• The 'callback' functions should be private.
• The 'run' method must be public.