[ros-users] Developing Well-Designed Packages for Robot Operating System (ROS)

Radu Bogdan Rusu rusu at willowgarage.com
Wed Jul 28 06:36:29 UTC 2010

Nice job Billy! Thanks for putting this up and sharing them with us. Also, good choice on using LaserScans as an example 
;) They're not PointClouds, but they're close enough. ;)

| Radu Bogdan Rusu | http://rbrusu.com/

On 07/27/2010 10:32 PM, Billy McCafferty wrote:
> Hi all,
> I'm Billy McCafferty, a long time lurker on this message board but a big
> advocate of ROS.  I've put together a series of articles over the past
> few months, at sharprobotica.com <http://sharprobotica.com>, concerning
> the development of ROS packages using proven design patterns and proper
> separation of concerns: http://www.sharprobotica.com/?p=43.
> The six part series, geared towards mid-to-larger sized packages, includes:
>     * Part I: Planning the package architecture
>       <http://www.sharprobotica.com/?p=43#PartI>,
>     * Part II: Creating the package skeleton
>       <http://www.sharprobotica.com/?p=52>,
>     * Part III: Developing and testing the domain layer
>       <http://www.sharprobotica.com/?p=71>,
>     * Part IV: Developing and testing the application service layer
>       <http://www.sharprobotica.com/?p=107>,
>     * Part V: Developing and testing the message endpoint layer
>       <http://www.sharprobotica.com/?p=175>, and
>     * Part VI: Adding a UI to the package. (coming soon!)
> I've been a professional developer for about 14 years now and I hope
> that some of the lessons I've learned (usually painful) on general
> architectural design and application layering might prove beneficial for
> your own efforts in developing packages for ROS.
> 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!)
> Thank you and enjoy!
> Billy McCafferty
> http://www.sharprobotica.com
> http://devlicio.us/blogs/billy_mccafferty
> http://wiki.sharparchitecture.net
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