Create Ros2 Package

Optional

• Package Path: Location for package (default: packages/runtime)
• Dependencies: Comma-separated ROS 2 dependencies (e.g., rclcpp,std_msgs,sensor_msgs)
• Description, Maintainer, License: Defaults from git config or sensible values

Workflow

Step 1: Gather Requirements

1. Request package name if not provided
2. Validate package name: lowercase, numbers, underscores only; drqp_ prefix for this project; no hyphens or special characters
3. Request package type (cpp/python/mixed) if not provided
4. Ask for optional dependencies and description

Step 2: Determine Package Location

1. Use packages/runtime/ or provided path
2. Full path: {workspaceFolder}/{packagePath}/{packageName}
3. Verify directory does not already exist; if exists, stop and report error

Step 3: Create Package Structure

C++ packages:

<package_name>/
├── CMakeLists.txt
├── package.xml
├── README.md
├── include/<package_name>/
├── src/
├── test/
├── launch/
└── config/

Python packages:

<package_name>/
├── package.xml
├── setup.py
├── setup.cfg
├── README.md
├── resource/<package_name>
├── <package_name>/__init__.py
├── test/__init__.py
├── launch/
└── .coveragerc

Mixed: Combine both structures.

Step 4: Generate CMakeLists.txt (C++ or Mixed)

Include: project metadata, C++20, compiler warnings, include(../../cmake/ClangCoverage.cmake), dependency finding via ament_package_xml(), library/executable targets, installation, ament_lint_auto, drqp_lint_common. Reference: packages/runtime/drqp_control/CMakeLists.txt.

Step 5: Generate package.xml

Package format 3, name, version 0.0.0, description, maintainer, license. Build tool: ament_cmake or ament_python. Runtime and test dependencies. Test deps: C++ — ament_lint_auto, drqp_lint_common, ament_cmake_gmock, ament_cmake_pytest; Python — ament_copyright, ament_flake8, ament_pep257, python3-pytest.

Step 6: Generate setup.py (Python or Mixed)

find_packages(exclude=['test']), data files, entry points, and for ament_python packages set tests_require=['pytest'] so colcon test runs Python tests. Reference: packages/runtime/drqp_brain/setup.py.

Step 7: setup.cfg and .coveragerc (Python)

Create with install options and coverage configuration.

Step 8: README.md

Basic sections: Overview, Dependencies, Building (colcon build --packages-up-to <pkg>), Testing (colcon test --packages-select <pkg>, colcon test-result --verbose), Usage.

Step 9: Test Scaffolding

C++: test/test_<package_name>.cpp with GTest, ament_add_gmock. Python: test/__init__.py, test/test_<package_name>.py with pytest.

Step 10: Directory Placeholders

launch/.gitkeep, config/.gitkeep (C++), resource/ marker (Python).

Validation

1. Verify all required files exist
2. Check package.xml and build file syntax
3. Optional: colcon build --packages-select <package_name> and colcon test

Edge Cases

• Existing package: Stop and report error
• Invalid name: Reject hyphens, uppercase, special characters
• Missing deps: Warn if rclcpp/rclpy not specified
• Invalid type: Only cpp, python, mixed

Related Resources

• ROS 2 Package Creation Tutorial
• ros2-workspace-build
• Engineering guidelines
• Examples: packages/runtime/drqp_control/, packages/runtime/drqp_brain/