Directory structure

Warning

Under Construction

C++ package

<package_name>
├─ config
│   ├─ foo_ros.param.yaml
│   └─ foo_non_ros.yaml
├─ doc
│   ├─ foo_document.md
│   └─ foo_diagram.svg
├─ include
│   └─ <package_name>
│       └─ foo_public.hpp
├─ launch
│   ├─ foo.launch.xml
│   └─ foo.launch.py
├─ schema
│   └─ foo_node.schema.json
├─ src
│   ├─ foo_node.cpp
│   ├─ foo_node.hpp
│   └─ foo_private.hpp
├─ test
│   └─ test_foo.cpp
├─ package.xml
├─ CMakeLists.txt
└─ README.md

Directory descriptions

config

Place configuration files such as node parameters. For ROS parameters, use the extension .param.yaml. For non-ROS parameters, use the extension .yaml.

Rationale: Since ROS parameters files are type-sensitive, they should not be the target of some code formatters and linters. In order to distinguish the file type, we use different file extensions.

doc

Place document files and link from README.

include

Place header files exposed to other packages. Do not place files directly under the include directory, but place files under the directory with the package name. This directory is used for mostly library headers. Note that many headers do not need to be placed here. It is enough to place the headers under the src directory.

Reference: https://docs.ros.org/en/humble/How-To-Guides/Ament-CMake-Documentation.html#adding-targets

launch

Place launch files (.launch.xml and .launch.py).

schema

Place parameter definition files. See parameters for details.

src

Place source files and private header files.

test

Place source files for testing. See unit testing for details.

Python package

T.B.D.