Template of catkin package for C++ and Python projects in ROS (Robot Operating System).

This project includes basic examples of pub/sub, custom messages and services, and dynamic reconfigure.

It provides standard ROS project structure and build/test pipeline using GitHub workflows.

Start your journey by clicking Use this template.

• OS: Ubuntu 20.04 LTS
• ROS: Noetic Ninjemys
• Build: GCC 9+, CMake 3.15+
• Optinal: catkin tools

1. Prepare catkin workspace:

mkdir -p workspace/src && cd src
catkin config --init --extend /opt/ros/noetic

2. Optinally, configure your workspace (CMake args, parallel jobs, etc.):

catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release -DCATKIN_ENABLE_TESTING=ON
catkin config --jobs $(nproc)

3. Build (forcing CMake to run, no cache):

catkin build --force-cmake

4. Source your workspace:

source devel/setup.bash

Now, you're ready to get going!

Before continuing any further, make sure CATKIN_ENABLE_TESTING CMake variable is ON (it is by default).

You can run all catkin-integrated tests (unittest, GoogleTest) using this command:

catkin test -t [run_tests]

C++ tests can be written in two ways:

• GoogleTest library (integrated into ROS).
• Catch2 v3 framework (external dependency).

It's really tricky to setup Catch2 with catkin. That's why we need to run tests manually:

cd build/catkin_template
ctest [-V]

This runs all the specified tests (unittest, nosetests, GoogleTest, Catch2).

roslaunch catkin_template example.launch [ns:=<your-namespace>] [remap_to:=<your-remapping>]

Run ROS publisher (publishes Message.msg to /message by default):

rosrun catkin_template cpp_publisher [message:=<topic-remapping>]

Run ROS subscriber (subscribes to /message by default):

rosrun catkin_template cpp_subscriber [message:=<topic-remapping>]

Run ROS service server (uses Service.srv, endpoint = /service):

rosrun catkin_template cpp_service_server [service:=<endpoint-remapping>]

Call service /service:

rosservice call /service "request: '<data>'"

rosrun catkin_template cpp_cfg_server

Check reconfiguration server using RQT:

rosrun rqt_reconfigure rqt_reconfigure