ROS Package中的Python使用规范

参考：
1. https://answers.ros.org/question/192723/cant-find-python-scripts-after-sourcing/
2. http://wiki.ros.org/PyStyleGuide

最近需要在ROS下实现几个使用TensorFlow的Publisher和Server node，出现了搜索不到module或者ros找不到我的node的情况，所以在网上搜了下怎么管理用Python写的ros package，把问题解决了。这篇博客的前半部分都来自参考[1]，后半部分会讲一下参考[1]没说清楚的部分，还有我遇到的问题。

一、ROS Package结构

假设我建立了一个叫knex_pkg的包，其中包含如下四个node：

scripts/knex_arduino_connector.py
scripts/knex_scratch_connector.py
scripts/range_filter.py
scripts/range_to_laser.py

那么这个Package的结构应该如下所示：

knex_pkg/
    CMakesLists.txt
    package.xml
    launch/ # roslaunch files go here
    msg/ # msg files go here
    nodes/ # installable python nodes go here
        knex_arduino_connector.py
        knex_scratch_connector.py
        range_filter.py
        range_to_laser.py
    src/ # this is where your python modules exported as libraries or used in your nodes go.
    urdf/ # urdf and xacro files go here -- basically your robot model stuff, if any.
    scripts/ # generally non-exported python scripts -- stuff that might be called to setup your package and code gen stuff
    srv/ # service descriptions go here
    __init__.py # only necessary if you want to use anything from the scripts directory in your package src and node files