# Package Name

## Overview

This is a template: replace, remove, and add where required. Describe here what this package does and what it's meant for in a few sentences.

**Keywords:** example, package, template

Or, add some keywords to the Bitbucket or GitHub repository.

### License

The source code is released under a [BSD 3-Clause license](ros_package_template/LICENSE).

**Author: Péter Fankhauser<br />
Affiliation: [ANYbotics](https://www.anybotics.com/)<br />
Maintainer: Péter Fankhauser, pfankhauser@anybotics.com**

The PACKAGE NAME package has been tested under [ROS] Indigo, Melodic and Noetic on respectively Ubuntu 14.04, 18.04 and 20.04.
This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed.

[![Build Status](http://rsl-ci.ethz.ch/buildStatus/icon?job=ros_best_practices)](http://rsl-ci.ethz.ch/job/ros_best_practices/)


![Example image](doc/example.jpg)


### Publications

If you use this work in an academic context, please cite the following publication(s):

* P. Fankhauser, M. Bloesch, C. Gehring, M. Hutter, and R. Siegwart: **PAPER TITLE**. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015. ([PDF](http://dx.doi.org/10.3929/ethz-a-010173654))

        @inproceedings{Fankhauser2015,
            author = {Fankhauser, P\'{e}ter and Hutter, Marco},
            booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
            title = {{PAPER TITLE}},
            publisher = {IEEE},
            year = {2015}
        }


## Installation

### Installation from Packages

To install all packages from the this repository as Debian packages use

    sudo apt-get install ros-noetic-...
    
Or better, use `rosdep`:

	sudo rosdep install --from-paths src

### Building from Source

#### Dependencies

- [Robot Operating System (ROS)](http://wiki.ros.org) (middleware for robotics),
- [Eigen] (linear algebra library)

	sudo rosdep install --from-paths src

#### Building

To build from source, clone the latest version from this repository into your catkin workspace and compile the package using

	cd catkin_workspace/src
	git clone https://github.com/ethz-asl/ros_best_practices.git
	cd ../
	rosdep install --from-paths . --ignore-src
	catkin_make

### Running in Docker

Docker is a great way to run an application with all dependencies and libraries bundles together. 
Make sure to [install Docker](https://docs.docker.com/get-docker/) first. 

First, spin up a simple container:

	docker run -ti --rm --name ros-container ros:noetic bash
	
This downloads the `ros:noetic` image from the Docker Hub, indicates that it requires an interactive terminal (`-t, -i`), gives it a name (`--name`), removes it after you exit the container (`--rm`) and runs a command (`bash`).

Now, create a catkin workspace, clone the package, build it, done!

	apt-get update && apt-get install -y git
	mkdir -p /ws/src && cd /ws/src
	git clone https://github.com/leggedrobotics/ros_best_practices.git
	cd ..
	rosdep install --from-path src
	catkin_make
	source devel/setup.bash
	roslaunch ros_package_template ros_package_template.launch

### Unit Tests

Run the unit tests with

	catkin_make run_tests_ros_package_template

### Static code analysis

Run the static code analysis with

	catkin_make roslint_ros_package_template

## Usage

Describe the quickest way to run this software, for example:

Run the main node with

	roslaunch ros_package_template ros_package_template.launch

## Config files

Config file folder/set 1

* **config_file_1.yaml** Shortly explain the content of this config file

Config file folder/set 2

* **...**

## Launch files

* **launch_file_1.launch:** shortly explain what is launched (e.g standard simulation, simulation with gdb,...)

     Argument set 1

     - **`argument_1`** Short description (e.g. as commented in launch file). Default: `default_value`.

    Argument set 2

    - **`...`**

* **...**

## Nodes

### ros_package_template

Reads temperature measurements and computed the average.


#### Subscribed Topics

* **`/temperature`** ([sensor_msgs/Temperature])

	The temperature measurements from which the average is computed.


#### Published Topics

...


#### Services

* **`get_average`** ([std_srvs/Trigger])

	Returns information about the current average. For example, you can trigger the computation from the console with

		rosservice call /ros_package_template/get_average


#### Parameters

* **`subscriber_topic`** (string, default: "/temperature")

	The name of the input topic.

* **`cache_size`** (int, default: 200, min: 0, max: 1000)

	The size of the cache.


### NODE_B_NAME

...


## Bugs & Feature Requests

Please report bugs and request features using the [Issue Tracker](https://github.com/ethz-asl/ros_best_practices/issues).


[ROS]: http://www.ros.org
[rviz]: http://wiki.ros.org/rviz
[Eigen]: http://eigen.tuxfamily.org
[std_srvs/Trigger]: http://docs.ros.org/api/std_srvs/html/srv/Trigger.html
[sensor_msgs/Temperature]: http://docs.ros.org/api/sensor_msgs/html/msg/Temperature.html