ROS的package的目录结构

最新推荐文章于 2025-11-15 23:05:18 发布

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#python #include #types #service #system #build

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本文详细介绍了ROS软件包的常见结构与组成部分，包括bin目录、src目录、scripts目录等，强调了命名规范的重要性，并提供了针对C++与Python开发者的关键建议。

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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: