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Welcome to the ros_utilities wiki! Here you will find documentation, examples, guidelines, on how to make the best out of these utilities.

Table of Contents

• ROS 2 development guidelines (or how you should be writing ROS 2 code)
• ROS 2 testing guidelines (or how you should be writing ROS 2 tests)
• A primer on process-wide ROS 2 APIs (and how not to run into deadlocks)
• A word on actionable and serviced APIs (and how to escape callback hell)
• A word on message feed APIs (or how you should be subscribing to topics)
• Execution and callback group reference (on what is available for dispatch)
• ROS 2 logging interoperability notes (on how to mix and match loggers)