rock-browse or rock-inspect can help you to find existing tasks you might want to include in your bundle. For example, try rock_inspect -t camera to get a list of all available tasks associated with “camera”.

The tasks you include into your bundle are configured using a YAML file. To create a new configuration file, do:

oroconf extract taskname::Task

The new template file is generated in the config/orogen subfolder of the bundle, with a file name that matches the oroGen model name (here, config/orogen/taskname::Task.yml)