Code Style Guidelines

Python (ROS 2 Packages)

• Follow PEP 8 style guide
• Use type hints where appropriate
• Maximum line length: 120 characters
• Use docstrings for classes and functions
• Import order: standard library, third-party, local imports

Example

#!/usr/bin/env python3
from typing import Optional

import rclpy
from rclpy.node import Node

class MyNode(Node):
    """Brief description of the node's purpose."""
    
    def __init__(self) -> None:
        super().__init__('my_node')
        self.get_logger().info("Node initialized")

C++

• Follow Google C++ Style Guide
• Use camelCase for variables and functions
• Use PascalCase for classes and structs
• Maximum line length: 100 characters
• Use meaningful variable names

Example

#include <rclcpp/rclcpp.hpp>

class MyNode : public rclcpp::Node
{
public:
  MyNode() : Node("my_node")
  {
    RCLCPP_INFO(this->get_logger(), "Node initialized");
  }

private:
  void processData();
};

Documentation

• Update README.md for significant changes
• Add docstrings/comments for complex logic
• Update package.xml descriptions when needed
• Include examples in documentation