Hi all,<br><br>I&#39;m Billy McCafferty, a long time lurker on this message board but a big advocate of ROS.  I&#39;ve put together a series of articles over the past few months, at <a href="http://sharprobotica.com">sharprobotica.com</a>, concerning the development of ROS packages using proven design patterns and proper separation of concerns:  <a href="http://www.sharprobotica.com/?p=43">http://www.sharprobotica.com/?p=43</a>.<br>

<br>The six part series, geared towards mid-to-larger sized packages, includes:<br><ul><li><a href="http://www.sharprobotica.com/?p=43#PartI">Part I: Planning the package architecture</a>,</li><li><a href="http://www.sharprobotica.com/?p=52">Part II: Creating the package skeleton</a>,</li>

<li><a href="http://www.sharprobotica.com/?p=71">Part III: Developing and testing the domain layer</a>,</li><li><a href="http://www.sharprobotica.com/?p=107">Part IV: Developing and testing the application service layer</a>,</li>

<li><a href="http://www.sharprobotica.com/?p=175">Part V: Developing and testing the message endpoint layer</a>, and</li><li>Part VI: Adding a UI to the package. (coming soon!)<br></li></ul>I&#39;ve been a professional developer for about 14 years now and I hope that some of the lessons I&#39;ve learned (usually painful) on general architectural design and application layering might prove beneficial for your own efforts in developing packages for ROS.<br>

<br>Your feedback, questions, comments, concerns, suggestions, and/or rebuttals are most welcome!  (Would love to get feedback - for better or worse - from the ROS team as well!)<br><br>Thank you and enjoy!<br>Billy McCafferty<br>

<a href="http://www.sharprobotica.com">http://www.sharprobotica.com</a><br><a href="http://devlicio.us/blogs/billy_mccafferty">http://devlicio.us/blogs/billy_mccafferty</a><br><a href="http://wiki.sharparchitecture.net">http://wiki.sharparchitecture.net</a><br>

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