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ROS2 python separate nodes directory Is it possible to have a separate directory for Python nodes in ROS2 (foxy)? pytho

ROS2 python separate nodes directory Is it possible to have a separate directory for Python nodes in ROS2 (foxy)? pytho

Structure ROS workspaces and packages with Git I am setting up a structure for projects and packages. Common packages ar

I have a node with some methods declared in /include/node_1.h and defined in /src/node_1.cpp. Now, I want to include that header into another node /src/node_2.cpp and use the methods there, like:

// node_2.cpp
#include "pkgname/node_1.h"

// ...
some_method_from_node_1();

I can catkin_make with including, but I get a linker error (undefined reference to the method) when trying to compile while calling the method from node_2.

My CMakeLists.txt for the package looks like:

# ...

## declare a catkin package
catkin_package(
    INCLUDE_DIRS include
    CATKIN_DEPENDS message_runtime
)

## include dirs
include_directories(include ${catkin_INCLUDE_DIRS})

## nodes
set(NODES
    node_1
    node_2
)

foreach(node IN LISTS NODES)

    add_executable(${node} src/${node}.cpp)
    target_link_libraries(${node} ${catkin_LIBRARIES})
    add_dependencies(${node} hric_sys_generate_messages_cpp)

endforeach()

How can I make it work and is this approach even idiomatically correct?

EDIT:

So, I have a method called my_test_func(), which I can call from node_1 but get a linker error if I try to invoke it from node_2, although the include works. This is the (simplified) code:

include/node_1.h:

# pragma once

void my_test_func();

src/node_1.cpp:

#include "package/node_1.h"

void my_test_func()
{
    ROS_INFO("API CALL!");
}

int main()
{
    // ...
    my_test_func(); // WORKS
}

src/node_2.cpp:

#include "package/node_1.h"

int main()
{
    // ...
    my_test_func(); // DOESN'T WORK
}

I'm basically trying to call node_1's methods from node_2 that will alter some internal data structure of node_1, e.g. n

You might be correct that it is not the correct design approach; essentially I am creating a data synchronizer that can

I'm basically trying to call node_1's methods from node_2 that will alter some internal data structure of node_1, e.g. n

So, defining the method in the header file works, although I don't understand why it doesn't result in a multiple-defini

This is pretty much what I've found out as well.. I think that I will turn node_1 into a separate package and compile it

Include methods from another node header (C++) I have a node with some methods declared in /include/node_1.h and defined

So, I added some example code below.. It still doesn't work, even if the method is not inlined.

So, I have a method called my_test_func(), which I can call from node_1 but get a linker error if I try to invoke it fro

It worked from node_1, yes, and I could include the method in node_2. I didn't upload the full code, because I simplifie

Include methods from another node header (C++) I have a node with some methods declared in /include/node_1.h and defined