Fix python and cpp standalone packages. or you can run both python and cpp nodes in one package!

.vscode/settings.json

@@ -0,0 +1,5 @@
+{
+    "files.associations": {
+        "*.jinja": "c"
+    }
+}

copier.yml

@@ -3,7 +3,7 @@ _answers_file: .copier/answers.service-ros2-ament_cmake.yml
 PACKAGE_NAME: 
   default: myproject
   type: str
-  help: The folder your package lives in. Please avoid spaces.
+  help: The folder your package lives in. Please avoid spaces. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
 
 PACKAGE_DESCRIPTION:
   default: The {{PACKAGE_NAME}} package
@@ -22,7 +22,7 @@ LANGUAGES:
         - Python
         - CPP
 
-RUN_COMMAND: ros2 run {{ PACKAGE_NAME }} {{ "my_node.py" if 'Python' in LANGUAGES else "my_node" if "CPP" in LANGUAGES else "yourcommandGoes here" }}
+RUN_COMMAND: ros2 run {{ PACKAGE_NAME }} {{ "my_python_node.py" if 'Python' in LANGUAGES else "my_node" if "CPP" in LANGUAGES else "yourcommandGoes here" }}
 
 HEALTHCHECK:
   defualt: HEALTHCHECK --start-period=60s --start-interval=1s CMD /ros_entrypoint.sh ros2 topic list

src/CMakeLists.txt.jinja

@@ -8,12 +8,29 @@ endif()
 {% if "CPP" in LANGUAGES %}
 # find dependencies
 find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
 # uncomment the following section in order to fill in
 # further dependencies manually.
 # find_package(<dependency> REQUIRED)
+{% endif %}
 
+{% if "Python" in LANGUAGES %}
+find_package(rclpy REQUIRED)
+find_package(ament_cmake_python REQUIRED)
+# Install Python modules
+ament_python_install_package(scripts)
+# Install Python executables
+install(PROGRAMS
+  scripts/my_python_node.py
+  DESTINATION lib/${PROJECT_NAME}
+)
+{% endif %}
+
+{% if "CPP" in LANGUAGES %}
 include_directories(include)
 add_executable(my_node src/my_node.cpp)
+ament_target_dependencies(my_node rclcpp std_msgs)
 target_include_directories(my_node PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include/${PROJECT_NAME}>)
@@ -36,4 +53,6 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
 endif()
 
+{% if "CPP" in LANGUAGES %}
 ament_package()
+{% endif %}

src/package.xml.jinja

@@ -7,17 +7,23 @@
   <maintainer email="{{MAINTAINER_EMAIL}}">{{MAINTAINER_NAME}}</maintainer>
   <license>{{LICENSE}}</license>
 
+  {% if "CPP" in LANGUAGES %}
   <buildtool_depend>ament_cmake</buildtool_depend>
-
+  <depend>rclcpp</depend>
+  {% endif %}
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
-
   {% if "Python" in LANGUAGES %}
   <exec_depend>rclpy</exec_depend>
-  <exec_depend>std_msgs</exec_depend>
   {% endif %}
+  <exec_depend>std_msgs</exec_depend>
 
   <export>
+    {% if "CPP" in LANGUAGES %}
     <build_type>ament_cmake</build_type>
+    {% endif %}
+    {% if ("Python" in LANGUAGES) and ("CPP" not in LANGUAGES) %}
+    <build_type>ament_python</build_type>
+    {% endif %}
   </export>
 </package>

src/{%if 'CPP' in LANGUAGES%}src{%endif%}/my_node.cpp.jinja

@@ -1,10 +1,32 @@
-#include <cstdio>
+#include <memory>
-#include "{{PACKAGE_NAME}}/my_node.hpp"
-int main(int argc, char ** argv)
-{
-  (void) argc;
-  (void) argv;
 
-  printf("hello world {{PACKAGE_NAME}} package\n");
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/string.hpp"
+#include "{{PACKAGE_NAME}}/my_node.hpp" //example include header file
+using std::placeholders::_1;
+
+class MinimalSubscriber : public rclcpp::Node
+{
+  public:
+    MinimalSubscriber()
+    : Node("minimal_subscriber")
+    {
+      subscription_ = this->create_subscription<std_msgs::msg::String>(
+      "topic", 10, std::bind(&MinimalSubscriber::topic_callback, this, _1));
+    }
+
+  private:
+    void topic_callback(const std_msgs::msg::String::SharedPtr msg) const
+    {
+      RCLCPP_INFO(this->get_logger(), "I heard: '%s'", msg->data.c_str());
+    }
+    rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscription_;
+};
+
+int main(int argc, char * argv[])
+{
+  rclcpp::init(argc, argv);
+  rclcpp::spin(std::make_shared<MinimalSubscriber>());
+  rclcpp::shutdown();
   return 0;
 }

src/{%if 'Python' in LANGUAGES%}scripts{%endif%}/my_python_node.py

@@ -1,13 +1,14 @@
+#!/usr/bin/env python3
 import rclpy
 from rclpy.node import Node
 
 from std_msgs.msg import String
 
 
-class MinimalPublisher(Node):
+class MyNode(Node):
 
     def __init__(self):
-        super().__init__('minimal_publisher')
+        super().__init__('my_python_node')
         self.publisher_ = self.create_publisher(String, 'topic', 10)
         timer_period = 0.5  # seconds
         self.timer = self.create_timer(timer_period, self.timer_callback)
@@ -17,21 +18,19 @@ class MinimalPublisher(Node):
         msg = String()
         msg.data = 'Hello World: %d' % self.i
         self.publisher_.publish(msg)
-        self.get_logger().info('Publishing: "%s"' % msg.data)
+        self.get_logger().info('Python Node Publishing: "%s"' % msg.data)
         self.i += 1
 
 
 def main(args=None):
     rclpy.init(args=args)
-
+    my_node = MyNode()
-    minimal_publisher = MinimalPublisher()
+    rclpy.spin(my_node)
-
-    rclpy.spin(minimal_publisher)
 
     # Destroy the node explicitly
     # (optional - otherwise it will be done automatically
     # when the garbage collector destroys the node object)
-    minimal_publisher.destroy_node()
+    my_node.destroy_node()
     rclpy.shutdown()
 
 

src/{%if 'Python' in LANGUAGES%}setup.cfg{%endif%}

@@ -1,4 +0,0 @@
-[develop]
-script_dir=$base/lib/my_node
-[install]
-install_scripts=$base/lib/my_node

src/{%if ('Python' in LANGUAGES) and ('CPP' not in LANGUAGES)%}launch{%endif%}/{{PACKAGE_NAME}}.launch.py.jinja

@@ -0,0 +1,11 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+#Simple launch file to launch nodes.
+def generate_launch_description():
+    return LaunchDescription([
+        Node(
+            package='{{PACKAGE_NAME}}',
+            executable='my_python_node',
+        ),
+    ])

src/{%if ('Python' in LANGUAGES) and ('CPP' not in LANGUAGES)%}setup.cfg{%endif%}.jinja

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/{{PACKAGE_NAME}}
+[install]
+install_scripts=$base/lib/{{PACKAGE_NAME}}

src/{%if ('Python' in LANGUAGES) and ('CPP' not in LANGUAGES)%}setup.py{%endif%}.jinja

@@ -1,7 +1,7 @@
 from setuptools import find_packages, setup
 import os
 from glob import glob
-package_name = {{PACKAGE_NAME}}
+package_name = '{{PACKAGE_NAME}}'
 
 setup(
     name=package_name,
@@ -18,14 +18,14 @@ setup(
     ],
     install_requires=['setuptools'],
     zip_safe=True,
-    maintainer={{MAINTAINER_NAME}},
+    maintainer='{{MAINTAINER_NAME}}',
-    maintainer_email={{MAINTAINER_EMAIL}},
+    maintainer_email='{{MAINTAINER_EMAIL}}',
-    description={{PACKAGE_DESCRIPTION}},
+    description="{{PACKAGE_DESCRIPTION | trim}}",
-    license={{LICENSE}},
+    license='{{LICENSE}}',
     tests_require=['pytest'],
     entry_points={
         'console_scripts': [
-            'minimal_publisher = scripts.my_node:main'
+            'my_python_node = scripts.my_python_node:main'
         ],
     },
 )