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How do you validate and build your ROS code with ROS tools?

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ROS is a popular framework for developing robotics applications, but it also requires following some best practices and standards to ensure the quality and reliability of your code. In this article, you will learn how to use some of the ROS tools that can help you validate and build your ROS code, such as roslint, rostest, and catkin.

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1 Why use ROS tools?

ROS tools are designed to help you write, test, and manage your ROS code in a consistent and efficient way. They can help you avoid common errors, follow coding conventions, automate testing, and simplify building and packaging. By using ROS tools, you can improve your code quality, readability, and maintainability, as well as save time and effort.

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Gerard Kinneen

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By reusing the ROS node, the development process of robot software can be significantly accelerated. The challenges in reusing ROS nodes primarily lie in the scattered organization of ROS node information. To address this challenge, the method to construct an ROS node knowledge graph (RNKG) based on high-quality open-source robot projects. In order to build a high-quality knowledge graph of ROS nodes, you need to construct a high-quality dataset of open-source robot projects. Since ROS node knowledge can exist in both text and code formats, I recommend separating the data in the dataset into code data and text data and then applying different knowledge extraction methods to extract corresponding entities.

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2 How to use roslint?

Roslint is a tool that checks your ROS code for style and formatting issues, based on the ROS C++ and Python style guides. You can use roslint to ensure that your code follows the ROS conventions and is easy to read and understand. To use roslint, you need to add it as a dependency and a test dependency in your package.xml file, and then create a CMakeLists.txt file that defines the roslint targets for your source files. You can then run roslint using catkin_make roslint_<package_name> or catkin_make roslint.

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3 How to use rostest?

Rostest is a tool that allows you to write and run integration tests for your ROS nodes and packages. You can use rostest to verify that your nodes communicate and behave as expected, and that they handle different scenarios and inputs. To use rostest, you need to create a test file that defines the nodes, parameters, and launch files that you want to test, and then write your test cases using either Python or C++ unittest frameworks. You can then run rostest using rosrun or roslaunch commands.

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4 How to use catkin?

Catkin is a tool that builds and packages your ROS code, as well as manages dependencies and configurations. You can use catkin to create and organize your ROS workspace, compile and link your source files, generate messages and services, and install and distribute your packages. To use catkin, you need to create a catkin workspace that contains a src directory, where you place your ROS packages. You can then use catkin_make or catkin build commands to build your packages, and catkin_make install or catkin install commands to install them.

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5 What are some other ROS tools?

Besides roslint, rostest, and catkin, there are many other ROS tools that can help you validate and build your ROS code. For example, rosbag records and plays back ROS messages from topics, while rosdoc generates documentation for your ROS packages. Additionally, roswtf diagnoses issues and errors in your ROS system, and rosdep installs system dependencies for your ROS packages. Finally, rqt provides a graphical user interface for various ROS utilities. You can find more information about these and other ROS tools on the ROS wiki.

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