Mastering ROS for Robotics Programming

Best practices in the ROS package

Following are the key points while creating and maintaining a package:

• Version Control: ROS supports version control using Git, Mercurial, and Subversion. We can host our code in GitHub and Bit bucket. Most of the ROS packages are in GitHub.
• Packaging: Inside a ROS catkin package, there will be a package.xml, and this file should contain the author name, description, and license. The following is an example of a package.xml:

  <?xml version="1.0"?> <package> <name>roscpp_tutorials</name> <version>0.6.1</version> <description> This package attempts to show the features of ROS step-by-step, including using messages, servers, parameters, etc. </description> <maintainer email="[e-mail]">Dirk Thomas</maintainer> ...