Mastering ROS for Robotics Programming - Second Edition

Step 1 - Creating the calculator_base header file

The calculator_base.h file is present in the pluginlib_calculator/include/pluginlib_calculator folder, and the main purpose of this file is to declare functions/methods that are commonly used by the plugins:

namespace calculator_base{class calc_functions{

Inside this code, we declare a class called calc_functions that encapsulates methods used by the plugins. This class is included in a namespace called calculator_base. We can add more classes inside this namespace to expand the functionalities of this base class:

virtual void get_numbers(double number1, double number2) = 0;virtual double operation() = 0;

These are the main methods implemented inside the calc_function class. The get_number() ...