ros2-lifecycle-package-creator 0.1.4

Create ROS2 lifecycle package boilerplate from a minimal config file

ROS2 lifecycle package creator

CLI tool to generate boilerplate source, CMakeLists.txt, launch, package.xml and readme files for ROS2 lifecycle nodes upto a minimum compilable package.

This package works best with standard ROS2 messages and for custom interfaces follow the naming conventions like in ROS2 official packages.

Demo

• running with the example config

ros2-lifecycle-pkg-create --config_file example/object_segmenter.yaml --target_dir object_segmenter

• output directory

object_segmenter
├── .clang-format
├── CMakeLists.txt
├── include
│   └── object_segmenter
│       └── object_segmenter.hpp
├── launch
│   └── object_segmenter.launch.py
├── package.xml
├── README.md
└── src
    ├── object_segmenter.cpp
    └── object_segmenter_node.cpp

Install using pip

• from your python environment run

python -m pip install ros2-lifecycle-package-creator

• then run

ros2-lifecycle-pkg-create --help

Install and run locally using poetry

• make sure poetry is installed, then run

# from top level (same where README.md is located)
poetry install

• enter the poetry env

eval $(poetry env activate)

• now run

ros2-lifecycle-pkg-create --help

Run locally without poetry

• install dependencies

pip install jinja2 pyyaml

• run

python src/main.py --config example/object_segmenter.yaml --target_dir /path/to/ros2_ws/src/example_pkg

What this package generates

• node.cpp
• node.hpp
• main.cpp executable
• node.launch.py with activated node
• package.xml with required subscriber and publisher dependencies
• CMakeLists.txt with required subscriber and publisher dependencies
• README.md with provided subscriber and publisher data
• adds .clang-format file as provided in repo here

Setup

config_file

author: authors name
email: authors_email
license: license_name
node_name: NodeName
namespace: some_namespace
description: some description
subscribers:
  topic1: type1
  topic2: type2
publishers:
  topic3: type3
  topic4: type4

Susbcribers and publishers will have handles that will have names topic1_sub_ or topic3_pub_ respectively. Topics will be named exactly as they are specified. eg: topic1

target_dir

The package files will be put in target_dir ensure its empty or doesnt exist (will be created)

TODO

• add license file
• add license header
• add parameter helpers
• add actions and services