ros_node_utils

The ros_node_utils offers a easy to follow "object oriented programming" scheme for fast prototyping and developing modules integrated to ROS system. ros_node utils offers following options;

• RosNodeBase (cpp/py) : a parent class that contains all essential functions required by a simple ros module
• RosExecuterNodeBase (cpp/py) : a parent class to easily create executable ros module, which potentially contain multiple objects of RosNodeBase drived classes.
• RosTfPublisher(py) : a interface to easily publish constant transformations or to route published poses to transformations for RViZ visualizations. (cpp version will be added with additional functionallity)
• RosParamReader(cpp) : Coming soon. simple interface to assign rosparameters to prefered types (std::vector,eigen::MatrixXd,eigen::VectorXd etc.)

Installization

Simply clone and add it to your catkin workspace.

Usage

Inherit your class from RosNodeBase/RosExecuterNodeBase. Examples are on the way.

System Requirements

ros_node_utils package requires following system specifications;

• Ubuntu 16.04
• GCC 5.4.0
• or [Python 2.7]
• Ros-kinetic
• Eigen 3.3 (Ubuntu 16.04 libeigen-dev bulunduruyor)
• Boost 1.58.0
• catkin_tools