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Back to Home / 1.5 Software Guidelines / ROS2 Package Structure

Required (for all)

<package_name> 
    package.xml                 (ros2 package for c++ and/or python)    
    README.md                   (git readme)

C++ package

<package_name> 
    include/<package_name>      (c++ header files) 
    src                         (c++ source files) 
    CMakeLists.txt              (c++)

Python package

<package_name>  
    <package_name>              (python scripts) 
    resource/<package_name>     (python resources) 
    setup.py                    (python setup) 
    setup.cfg                   (python setup config)

C++ and Python package

<package_name> 
    <package_name>              (python scripts)

    include/<package_name>      (c++ header files) 
    src                         (c++ source files) 
    CMakeLists.txt              (c++ with cmake_python)

Optional (for all)

<package_name> 
    LICENSE                     (license) 

    launch                      (launch files) 
    msg                         (internal messages) 
    srv                         (internal services) 
    action                      (internal actions) 

    config/config.yaml          (ros2 parameter configs) 
    dependencies                (libraries, modules or third-party source code) 
    docker/Dockerfile           (docker file) 
    data                        (data files) 
    test                        (test files)

    .gitignore                  (to exclude unwanted folders)

Install instructions

ros2 pkg create example_package --build-type ament_python --node-name example_node --dependencies rclpy ros_core