ROS中package.xml的自定义编写

1描述标签

<description>The beginner_tutorials package</description>

2维护者标签

<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example:  -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="user@todo.todo">user</maintainer>

3许可标签

<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>TODO</license>
选择一种许可协议并将它替换TODO。一些常见的开源许可协议有BSD、MIT、Boost Software License、GPLv2、GPLv3、LGPLv2.1和LGPLv3。

4依赖项标签

<!-- The *_depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use build_depend for packages you need at compile time: -->
<!--   <build_depend>genmsg</build_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!--   <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use exec_depend for packages you need at runtime: -->
<!--   <exec_depend>python-yaml</exec_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!--   <test_depend>gtest</test_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roscpp</build_depend>
<build_depend>rospy</build_depend>
<build_depend>std_msgs</build_depend>

除了catkin中默认提供的buildtool_depend，所有我们列出的依赖包都已经被添加到build_depend标签中。

<buildtool_depend>catkin</buildtool_depend>

<build_depend>roscpp</build_depend>
<build_depend>rospy</build_depend>
<build_depend>std_msgs</build_depend>

<build_export_depend>roscpp</build_export_depend>
<build_export_depend>rospy</build_export_depend>
<build_export_depend>std_msgs</build_export_depend>

<exec_depend>roscpp</exec_depend>
<exec_depend>rospy</exec_depend>
<exec_depend>std_msgs</exec_depend>

完成1234步后，删除注释，完成自定义package.xml。

   1 <?xml version="1.0"?>
   2 <package format="2">
   3   <name>beginner_tutorials</name>
   4   <version>0.1.0</version>
   5   <description>The beginner_tutorials package</description>
   6
   7   <maintainer email="you@yourdomain.tld">Your Name</maintainer>
   8   <license>BSD</license>
   9   <url type="website">http://wiki.ros.org/beginner_tutorials</url>
  10   <author email="you@yourdomain.tld">Jane Doe</author>
  11
  12   <buildtool_depend>catkin</buildtool_depend>
  13
  14   <build_depend>roscpp</build_depend>
  15   <build_depend>rospy</build_depend>
  16   <build_depend>std_msgs</build_depend>
  17
  18   <exec_depend>roscpp</exec_depend>
  19   <exec_depend>rospy</exec_depend>
  20   <exec_depend>std_msgs</exec_depend>
  21
  22 </package>