Creating a New Node - ArcturusNavigation/all_seaing_vehicle GitHub Wiki

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To allow for cross-compatibility between Python and C++, we use the CMake build system, along with ament_cmake_auto magic functions to simplify the build process

Python

Follow this tutorial for a general overview on creating new Python nodes. There are some specific steps to take for all_seaing_vehicle due to using CMake instead of Python build:

1. At the top of the file, add the line #!/usr/bin/env python3
2. Once the file has been created, run chmod +x name_of_file.py. This is the missing step if you get a permission denied error.

Don't forget to add your node to CMakeLists.txt and dependencies to package.xml. Follow the existing CMakeLists.txt; since we use ament_cmake_auto, we do not have to add all the dependencies in CMakeLists.txt.

C++

For C++, this tutorial includes all the necessary steps. Again, don't forget to add additional dependencies to package.xml and follow the existing CMakeLists.txt (for C++, all_seaing_perception is a good package to look at).