Once you have created a raw c++ component inside the `crs` directory, you will need to register it as a ros component inside the `ros` directory. While in theory, all code could directly go into the `ros` section, we still advise creating two different packages detaching ROS functionality from raw algorithmic implementations.
Once you have created a raw c++ component inside the `crs` directory, you will need to register it as a ros component inside the `ros` directory. While in theory, all code could directly go into the `ros` section, we still advise to create two different packages detaching ROS functionality from raw algorithmic implementations.
## Registering a new Simulator
## Registering a new Simulator
If you would like to register a new simulator, you will first need to create a new class that inherits from the abstract `Simulator` class defined in `ros/ros_simulator/include/ros_simulator/common/ros_simulator.h`. Have a look at `ros/ros_simulator/src/ros_pacejka_simulator.cpp`to see an example implementation.
If you would like to register a new simulator, you will first need to create a new class that inherits from the abstract `Simulator` class defined in `ros/ros_simulator/include/ros_simulator/common/ros_simulator.h`. Have a look at `ros/ros_simulator/src/ros_pacejka_simulator.cpp`to see an example implementation.
