ROS的package的目录结构

ROS packages tend to follow a common structure. Here are some of the directories and files you may notice.

• bin/: compiled binaries
• include/package_name: C++ include headers (make sure to export in the package manifest)
• src/package_name/: Source files, especially Python source that are exported to other packages.
• scripts/: executable scripts
• CMakeLists.txt: CMake build file (see CMakeLists)
• manifest.xml: Package manifest

For C++ and Python developers, we strongly recommend that thepackage_name match namespaces/module names in your code so thatit’s easy to locate what package provides your code.

Packages that are used with the ROS communication system may also have:

• msg/: ROS message (msg) types
• srv/: ROS service (srv) types