Class design

We'll use the autoware_gnss_poser package as an example.

Namespaces

namespace autoware::gnss_poser
{
...
} // namespace autoware::gnss_poser

• Everything should be under autoware::gnss_poser namespace.
• Closing braces must contain a comment with the namespace name. (Automated with cpplint)

Classes

Nodes

gnss_poser_node.hpp

class GNSSPoser : public rclcpp::Node
{
  public:
    explicit GNSSPoser(const rclcpp::NodeOptions & node_options);
  ...
}

gnss_poser_node.cpp

GNSSPoser::GNSSPoser(const rclcpp::NodeOptions & node_options)
: Node("gnss_poser", node_options)
{
  ...
}

• The class name should be in CamelCase.
• Node classes should inherit from rclcpp::Node.
• The constructor must be marked be explicit.
• The constructor must take rclcpp::NodeOptions as an argument.
• Default node name:
  • should not have autoware_ prefix.
  • should NOT have _node suffix.
    • Rationale: Node names are useful in the runtime. And output of ros2 node list will show only nodes anyway. Having _node is redundant.
  • Example: gnss_poser.

Component registration

...
} // namespace autoware::gnss_poser

#include <rclcpp_components/register_node_macro.hpp>
RCLCPP_COMPONENTS_REGISTER_NODE(autoware::gnss_poser::GNSSPoser)

• The component should be registered at the end of the gnss_poser_node.cpp file, outside the namespaces.

Libraries

Warning

Under Construction