Example of ROS2 Project Package Architecture

 

For example, consider the following packages that might reside in a folder named ~/ros2_ws/src/my_robot :

• my_robot
• my_robot_base
• my_robot_bringup 
• my_robot_description
• my_robot_gazebo
• my_robot_kinematics
• my_robot_localization
• my_robot_manipulation
• my_robot_moveit_config
• my_robot_msgs 
• my_robot_navigation
• my_robot_teleop
• my_robot_tests
• my_robot_rviz_plugins

Let’s write the purpose for each package below:

• my_robot (This package is a metapackage. A metapackage doesn’t contain anything except a list of dependencies to other packages. You can use a metapackage to make it easier to install multiple related packages at once. Example.).
• my_robot_base (This package is used to control the motors of your robot. Example.)
• my_robot_bringup (Put the ROS 2 launch files that bring up the robot inside this folder. Example.)
• my_robot_description (Contains the URDF and mesh files of your robot. Example.)
• my_robot_gazebo (Configuration and launch files for spawning the robot in Gazebo. Example)
• my_robot_kinematics (Your forward and inverse kinematics algorithms go here. Example.)
• my_robot_localization (Files for localizing in an environment. Example.)
• my_robot_manipulation (Contains algorithms for manipulating objects in the environment. Example.)
• my_robot_moveit_config (Configuration files using the MoveIt framework. Example.)
• my_robot_msgs (Contains custom messages, services, and actions. Example.)
• my_robot_navigation (Contains configuration and launch files for the ROS 2 Navigation Stack. Example.)
• my_robot_teleop (A node for manually tele-operating a robot using a keyboard, joystick, game console controller, etc. Example.)
• my_robot_tests (A package used for system tests. Example.)
• my_robot_rviz_plugins (RViz specific plugins go here. Example.)

 

 

References :

[1] https://automaticaddison.com/page/8/