How do you handle ROS code updates?

2 Following the ROS distribution cycle

ROS distributions are the official releases of ROS that include a set of core packages, tools, and libraries that are tested and maintained by the ROS community. Each ROS distribution has a name, a version number, and a support period. For example, the current ROS 2 distribution is Foxy Fitzroy, which is the fifth release of ROS 2 and has a support period of three years. ROS distributions follow a regular cycle of updates, which include bug fixes, security patches, and new features. You can check the status and roadmap of each ROS distribution on the ROS website. Following the ROS distribution cycle can help you handle ROS code updates more smoothly, as you can plan ahead for the changes and compatibility issues that may arise. You can also choose the most suitable ROS distribution for your project based on your needs and preferences.

3 Using a dependency manager

A dependency manager is a tool that helps you manage the external packages that your ROS project depends on. For example, if your ROS project uses a package that provides a sensor driver, a dependency manager can help you install, update, or remove that package and its dependencies. For ROS projects, the recommended dependency manager is rosdep, which is part of the ROS core tools. Rosdep can automatically detect and resolve the dependencies of your ROS packages from various sources, such as the official ROS repositories, your custom repositories, or other package managers like apt or pip. You can use rosdep to update your dependencies with a single command, which can save you time and hassle. However, you should also be careful when updating your dependencies, as they may introduce breaking changes or conflicts with your code.

4 Testing your code updates

Testing your code updates is crucial for ensuring the quality and functionality of your ROS project. Testing can help you detect and fix errors, bugs, or regressions that may occur after updating your ROS code. There are different types of testing that you can perform on your ROS project, such as unit testing, integration testing, or system testing. For ROS projects, the recommended testing framework is rostest, which is part of the ROS core tools. Rostest can help you write and run tests for your ROS packages using various tools and libraries, such as roslaunch, rospy, roscpp, or gtest. You can also use rostest to integrate your tests with continuous integration services like GitHub Actions or Travis CI, which can automate the testing process and provide feedback on your code updates.

5 Documenting your code updates

Documenting your code updates is important for maintaining and sharing your ROS project. Documenting can help you keep track of the changes and reasons behind them, as well as inform other developers or users about the features and requirements of your ROS project. There are different ways of documenting your code updates, such as writing commit messages, changelogs, or README files. For ROS projects, the recommended documentation tool is rosdoc_lite, which is part of the ROS core tools. Rosdoc_lite can help you generate documentation for your ROS packages from various sources, such as code comments, doxygen tags, or manifest files. You can also use rosdoc_lite to publish your documentation on platforms like GitHub Pages or Read the Docs, where you can also access features like versioning, search, or navigation.

6 Here’s what else to consider

This is a space to share examples, stories, or insights that don’t fit into any of the previous sections. What else would you like to add?