ROS Programming: Building Powerful Robots

ROS code formatting

One thing that needs to be taken care of while developing code is its formatting. One of the basic things in formatting is that each code blocks in ROS separated by two spaces. Given in the following is a code snippet showing the formatting:

if(a < b) 
{ 
  // do stuff 
} 
else 
{ 
  // do other stuff 
}

Given in the following is an example code snippet in the ROS standard formatting style:

#include <boost/tokenizer.hpp> #include <moveit/macros/console_colors.h> #include <moveit/move_group/node_name.h> static const std::string ROBOT_DESCRIPTION = "robot_description"; // name of the robot description (a param name, so it can be changed externally) namespace move_group { class MoveGroupExe { public: MoveGroupExe(const planning_scene_monitor::PlanningSceneMonitorPtr& ...