Learning Robotics using Python - Second Edition

The ROS filesystem

The ROS filesystem mainly covers how ROS files are organized on the disk. The following are the main terms that we have to understand when working with the ROS filesystem:

• Packages: ROS packages are the individual unit of the ROS software framework. A ROS package may contain source code, third-party libraries, configuration files, and so on. ROS packages can be reused and shared.
• Package manifests: The manifests (package.xml) file will have all the details of the packages, including the name, description, license, and, more importantly, the dependencies of the package.
• Message (msg) types: Message descriptions are stored in the msg folder in a package. ROS messages are data structures for sending data through ROS's message-passing ...