I have, at least what I think is, a slightly unique setup currently with some c++ code, and I'm curious if there exists some information in the ros world on what the best practice would be for structuring and compiling.

I have a node which makes usage of a library I've developed, the library itself is just c++ and contains some minimal ros elements like functions which can accept ros2 interfaces as inputs. The library is not defining a node, and it will be convenient for me to reuse this library in other, future packages as well.

Is there a best practice for how to structure this? Both in terms of the CMake file but also the folder structure.

My current structure is

• pkg1/
  • include/pk1/
    • node.hpp
    • lib1.hpp
    • lib2.hpp
  • src/
    • node.cpp
  • CMakeLists.txt