ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
1 | initial version |
I think you have heard wrong. You shouldn't need more than one .cpp file to fully describe a node. Most of the time when I'm making a new node, I actually go to the simple tutorial and use it as a template.
When you do have a very complex node, it is sometimes better to do everything as a class, it is still all in one .cpp file though. Here are some pointers on doing that.