This package serves as a template which can used to create a new ROS2 Node or Guidance Plugin Node following CARMA Platform's default structure. The contents of this package are not build-able on their own. There are a number of substitution parameters that must be replaced with the desired package name these are indicated with a <SUB><substitution name> indicator in the text. The following substitutions are used internally:

<SUB><package_name> The new package name
<SUB><year> The current year
<SUB><base_node_dep> The dep to use as a base node

To make the process easier a script is provided to create the new package of the desired type with the desired package name and current year.

Creating a new ROS2 package for CARMA Platform

./carma_package <this template_package path> <package name> <path to new package parent folder> <optional plugin type>

# If set, <optional plugin type> should be one of strategic, tactical, or control. If unset, then not a plugin"

For example, if you have a standard carma source checkout and want to make a regular node:

cd src/carma-platform/template_package

./carma_package . my_package ../

If successful you should see the new location printed.

my_package created at /workspaces/carma_ws/src/carma-platform/my_package

To make a new Guidance Plugin, you must specify the plugin type:

cd src/carma-platform/template_package

./carma_package . my_package ../ strategic

This new package can now be built like any other carma package.