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+===== CRAM Programming Guidelines =====
+==== Collaborative Development ====
+If you're working on a package that other people are working on / are using, please try to stick to the following guidelines:
+  * Always use the GIT version control system when developing
+  * One commit per feature with a meaningful commit message
+  * Use square brackets to annotate for which package the commit is. E.g.: ''"[btr] new feature for btr package"''
+  * Send a //pull request// through GitHub, when:
+    * you want somebody to review your code
+    * you want your code to be tested on a different machine than yours
+  * When sending pull requests always try to include a person who you'd like to review it in the comment to the request
+If you want to introduce major interface changes through you code, make an announcement on the [[https://www.informatik.uni-bremen.de/mailman/listinfo/cram-developers|cram-developers mailing list]]
+==== Development of Roslisp Packages ====
+**package.xml**
+Relevant documentation: [[http://www.ros.org/reps/rep-0127.html|Package.xml Ref]]
+  * As a ''<build_depend>'' only specify all the rosdep keys or ROS packages that your package requires at build-time, e.g. other ROS package sources, library headers. Whereas, ''<run_depend>'' is for rosdep keys and ROS packages that your package needs at run-time, e.g. shared libraries, executables, Python modules, launch scripts. More documentation for this can be found [[http://wiki.ros.org/catkin/conceptual_overview#Dependency_Management|here]].
+  * Use ''<export><deprecated /></export>'' to tag deprecated packages
+  * The license for all CRAM code should be BSD / Public Domain
+  * Put links to github into the ''<url type="bugtracker">'' and ''<url type="repository">'' tags
+**my-package-name.asd files**
+  * Put it into the root of your source directory, no need for symbolic links and asdf directories
+  * Always explicitly specify dependencies on //all// the Lisp packages, symbols of which you use in your code (even if the dependency is transitive and is automatically added by other packages that you depend on).
+==== Coding Style ====
+**Lisp**
+  * Pay attention to the indentation!!!
+  * Try not to exceed 80 symbols in width in your code
+  * Lisp names (variables, classes, methods, packages) are all lowercase with dashes in between: ''my-awesome-lisp-variable''
+  * Do you usually get that feeling that something is underdocumented? :) Think about that when writing your own code. (not that the author of this guideline always sticks to this particular rule, unfortunately...)
+  * Try not to ''use'' too many packages in your ''package.lisp''. Instead, specify package namespaces explicitly in your code, e.g. ''cl-transforms:x'' instead of ''x''. That way code is more readable.
+  * Don't use ''cl-tf'' if you actually want ''cl-transforms''. The difference is:
+    * ''cl-transforms'' defines datatypes such as ''pose'' and ''transform'' and their utility functions, such as ''angle-between-quaternions''.
+    * ''cl-transforms-stamped'' defines datatypes of ''pose-stamped'' and ''transforms-stamped''. So once you need a frame header, use ''cl-transforms-stamped''.
+    * ''cl-tf'' defines the transform listener library, so if you need to do ''lookup-transform'', use ''cl-tf''.
+    * ''cl-tf2'' is the equivalent of ''cl-tf'' only with an alternative implementation based on the ''buffer_server'' from ''tf2_ros'' package.
+**Ros-related**
+  * ROS packages' names are usually lowercase with underscores in between: ''my_awesome_ros_package''.
+==== Copyright notices ====
+CRAM is open source software licensed under the BSD licence.
+This means the code can be used by any third party without having to contribute anything back and having to mention the original authors.
+Our copyright notice is there to allow others to use our software without being afraid of being sued.
+An example copyright notice can be found in the header of most ''*.lisp'' files in CRAM.
+Here are some guidelines on how to deal with the copyright notice of your code:
+  * When you create a new ''*.lisp'' or ''*.asd'' file or any other source code file, please add a copyright notice with your name and institution name.
+  * If you simply copy pasted a file, please keep the original notice intact.
+  * For non-sourcecode files such as a ''package.xml'' file, make sure to simply put your name in the correct tag (e.g. ''<author>'').
+  * When editing an existing file, you can add your name into the header if you made a substantial contribution to the code.
+A contribution is considered substantial if:
+  * you added a new feature,
+  * you fixed a major bug and thereby edited many lines of code in the file.
+A contribution is considered not substantial if:
+  * you fixed a typo,
+  * fixed indentation,
+  * slightly improved a documentation string,
+  * other minor contributions such as minor refactoring and nicification,
+  * minor bug fixes,
+  * copy paste of existing code with minor tweaks.
+==== Lisp Programming ====
+Todo: Some Lisp patterns and stuff would be nice, like tail recursive functions and optimization flags, making sure the functions have no side effects, etcetc...