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Update 'non-ros-files/Programming_Rules.md'

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winterhalderp 2021-04-19 17:28:43 +02:00
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non-ros-files/Programming_Rules.md
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# Rules for programming Python in ROS2
# Rules for programming with Python in ROS2
## File Structure
```
colcon_workspace
@ -8,12 +8,12 @@ colcon_workspace
|- src (contains your source code - this is where you work)
```
## Colcon build
## Colcon Build
Performing a `colcon build` is neccessary after every change to the `src` directory. This must be performed in the `root` of the _colcon_ workspace (eg. `cd ~/colcon_ws`).
In order to avoid this procedure after every change made to a Python script you must run `colcon build --symlink-install` once. This links the files created in `/build` and `/install` to your source files in `/src`. However, after creating a new Python script this procedure must be repeated in order to also link this new script.
## Source directory
## Source Directory
The source directory holds your ROS2 packages as further directories. In this example the `src` directory contains the packages `pubsub` and `pubsub_msg`:
```
colcon_workspace/
@ -23,3 +23,18 @@ colcon_workspace/
|- pubsub/
|- pubsub_msg/
```
## setup.py
The file `<colcon_ws>/<package_dir>/setup.py` defines how to call your scripts using the command line. This results in commands such as
`ros2 run pubsub talker`
`ros2 run pubsub listener`.
This is done by linking the names _talker_ and _listener_ to the Python scripts of your choice, eg.
```python
entry_points={
'console_scripts': [
'talker = pubsub.talker:main',
'listener = pubsub.listener:main'
],
},
```