A typical structure of an ROS package is shown here:
Figure 3: Structure of a typical C++ ROS package
We can discuss the use of each folder as follows:
- config: All configuration files that are used in this ROS package are kept in this folder. This folder is created by the user and it is a common practice to name the folder config to keep the configuration files in it.
- include/package_name: This folder consists of headers and libraries that we need to use inside the package.
- script: This folder keeps executable Python scripts. In the block diagram, we can see two example scripts.
- src: This folder stores the C++ source codes.
