参考: Navigating the ROS Filesystem
1 Overview
- Packages: software organization unit of ROS code, contain libraries, executables, scripts…
- Manifests (package.xml): description of a package. define dependencies between packages, capture meta information about the package (version, maintainer, license)
2 Tools
three commandlines: rospack, roscd, rosls
2.1 rospack
rospack: ros + package, get information about packages.
# get the path to package
$ rospack find roscpp
2.2 roscd
ros + cd: change directory to a package or a stack.
# 进入roscpp所在(子)目录
$ roscd roscpp
$ roscd roscpp/cmake
# 打印当前工作目录
$ pwd
# 输出ROS功能包所在路经
$ echo $ROS_PACKAGE_PATH
# 进入log目录
$ roscd log
2.3 rosls (from rosbash)
ls directly in a package by name rather than by absolute path.
$ rosls roscpp_tutorials
return : cmake launch package.xml srv