leggedrobotics/ros_best_practices

Best practices, conventions, and tricks for ROS

ros_best_practices's Issues

Problem building the example

I have a problem in building the example...I've installed ROS Kinect instead of ROS Indigo.

Here the error code after launching "catkin build ros_package_template"

build] Found '1' packages in 0.0 seconds.
[build] Updating package table.
Starting >>> catkin_tools_prebuild
No handlers could be found for logger "trollius"d] [catkin_tools_prebuild:cmake - 0.7]
Failed <<< catkin_tools_prebuild [ 0.7 seconds ]
Abandoned <<< ros_package_template [ Unrelated job failed ]
[build] Summary: 0 of 2 packages succeeded.
[build] Ignored: None.
[build] Warnings: None.
[build] Abandoned: 1 packages were abandoned.
[build] Failed: 1 packages failed.
[build] Runtime: 0.8 seconds total.

catkin_make is not working

In file included from /home/viki/catkin_ws/src/ros_best_practices/ros_package_template/src/ros_package_template_node.cpp:2:0:
/home/viki/catkin_ws/src/ros_best_practices/ros_package_template/include/ros_package_template/RosPackageTemplate.hpp:8:30: fatal error: std_srvs/Trigger.h: No such file or directory
#include <std_srvs/Trigger.h>
^
compilation terminated.
In file included from /home/viki/catkin_ws/src/ros_best_practices/ros_package_template/src/RosPackageTemplate.cpp:1:0:
/home/viki/catkin_ws/src/ros_best_practices/ros_package_template/include/ros_package_template/RosPackageTemplate.hpp:8:30: fatal error: std_srvs/Trigger.h: No such file or directory
#include <std_srvs/Trigger.h>
^
compilation terminated.
make[2]: *** [ros_best_practices/ros_package_template/CMakeFiles/ros_package_template.dir/src/ros_package_template_node.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
make[2]: *** [ros_best_practices/ros_package_template/CMakeFiles/ros_package_template.dir/src/RosPackageTemplate.cpp.o] Error 1
make[1]: *** [ros_best_practices/ros_package_template/CMakeFiles/ros_package_template.dir/all] Error 2

Create 4 packages: algorithm, algorithm_msgs, algorithm_ros and rqt_algorithm

I propose to create 4 packages to extend the examples:

• algorithm (ROS-independent core)
• algorithm_msgs (ROS msgs/srvs only)
• algorithm_ros (ROS-wrapper around algorithm using algorithm_msgs and containing a ROS node)
• rqt_algorithm (ROS GUI to interact with algorithm_ros)

We can discuss the naming :-)

I could add it if you want.

Add Eigen and Boost dependencies

Adding Eigen and Boost to CMakeLists.txt/package.xml would help with how to handle these deps correctly.

Do you agree?

Add example where virtual call is appropriate

Sometimes virtual functions are costly, sometimes not. Show both examples in this repo.

As suggested in #23 by @peci1:

Virtual functions might be costly if the function is called often. Maybe the code could have a non-virtual function OftenCalledFunction and a virtual NotSoOftenCalledFunction. But that decision is on you.

Naming Convention Violations for Variables in RosPackageTemplate

The member variables in the RosPackageTemplate package of this repository are not following the recommended naming conventions outlined in the ROS C++ Style Guide.

According to ROS style guide, member variables should be named using under_scored, while in the current implementation, camelCase is used.

For example, in the RosPackageTemplate class:

- serviceServer_
- subscriberTopic_
- nodeHandle_

I have no problem making a pull request to address this issue if needed.

best practices for git

Hi. What are the best practices for organizing git repositories?

Should the src/ folder be a git repository? Or should I make each package a separate repository?

which node publish /image_elevation?

I want to add some other limitations of traversability, but I don't know how to correct the code and which CPP file?

Wiki: Lecture notes on Using Third-Party Libraries are not available

The section Using Third-Party Libraries contains a link to the lecture notes http://courses.csail.mit.edu/6.141/spring2012/pub/lectures/Lec06-ROS.pdf that are currently not available for public access (403: Forbidden).

Maybe someone still has the notes and can publish them to another place? Or reference a different source with the relevant information.

call traversability_footprint service always failed

hi:
we used the traversability_estimation rospack for mapping the robot footprint cost map for our quadruped robot's body-path planner.
the issue is that: when we call traversability_footprint service, this service always gived the error like"service call failed: service [/traversability_estimation/traversability_footprint] respond with an error: GridMap::at(...): No map layer 'traversability_slope' available", other similar errors are maybe traversability_step or traversability_roughness layer not available.
so, we did not know what caused this service call failure, could you give us some advice? thank you!

C++ Debug Best Practices

It is really inconvenient to debug ros programs without supportive tools and resulted in wasting a lot of time. Considering the community lack of necessary tutorial for effective debug, can you complete the debug part.

ld error during catkin build

When I tried to build the project with catkin build, it returns error like this:

/usr/bin/ld: CMakeFiles/ros_package_template.dir/src/RosPackageTemplate.cpp.o: undefined reference to symbol '_ZTVN10__cxxabiv121__vmi_class_type_infoE@@CXXABI_1.3'
/usr/bin/ld: /lib/x86_64-linux-gnu/libstdc++.so.6: error adding symbols: DSO missing from command line
collect2: error: ld returned 1 exit status

After I searched the Internet, I found that it is probably because cmake didn't use the right compiler. See this https://stackoverflow.com/questions/59536040/libstdc-so-6-error-adding-symbols-dso-missing-from-command-line
I think it might need to add a line like this in the CMakeLists.txt

set(CMAKE_CXX_COMPILER "/path/to/g++")

or simply modify the project line to

project(ros_package_template CXX)

Nodelet conventions

Hey!

it would be nice to have also conventions for nodelets like naming, basic structure. :)

Have a great day!
Ugnius