Luckily, some ROS tools support TAB completion.Īfter pushing the TAB key, the command line should fill out the rest. In the previous example, roscpp_tutorials is a fairly long name. It can get tedious to type out an entire package name. It allows you to ls directly in a package, stack, or common location by name rather than by package path. If you have run some ROS program before, try: $ roscd log Note that if you have not run any ROS programs yet, this will yield an error saying that it does not yet exist. Roscd log will take you to the folder where ROS stores log files. Note: Prior to Fuerte, roscd would take you to $ROS_ROOT. Roscd without an argument will take you to $ROS_WORKSPACE. There are a few special places you can tell roscd to go, that are not a package or stack.
Roscd can also move to a subdirectory of a package or stack. Similarly to other environment paths, you can add additional directories to your $ROS_PACKAGE_PATH, with each path separated by a colon ':' YOUR_INSTALL_PATH/share:YOUR_INSTALL_PATH/stacks.If you have not modified your $ROS_PACKAGE_PATH, you should see: To see what is in your $ROS_PACKAGE_PATH, type: $ echo $ROS_PACKAGE_PATH Note that roscd, like other ROS tools, will only find ROS packages that are below the directories listed in your $ROS_PACKAGE_PATH. You can see that YOUR_INSTALL_PATH/share/roscpp is the same path that rospack find gave in the previous example. Now let's print the working directory using the Unix command pwd: $ pwd To verify that we have changed to the roscpp package directory. It allows you to change directory ( cd) directly to a package or a stack. If, for example, you have used the binary install of ROS Fuerte on Ubuntu linux, you would see exactly: In this tutorial, we are only going to cover the find option, which returns the path to package or stack. Rospack and rosstack allow you to get information about packages and stacks. Navigating with command-line tools such as ls and cd can be very tedious which is why ROS provides tools to help you. A stack is a directory with a stack.xml file.Ĭode is spread across many ROS packages and stacks.A package is a directory with a manifest.xml file.When you look at the filesystem, it's easy to tell packages and stacks apart: Stack Manifest: These are just like normal manifests, but for stacks. Stacks: Stacks are collections of packages that form a higher-level library. Its most important role is to define dependencies between packages. Manifest: A manifest is a description of a package.
They can contain anything: libraries, tools, executables, etc.
Ink2go install path software#
Packages: Packages are the lowest level of ROS software organization. Replace '' (including the '') with the name of your ROS distribution (e.g. For this tutorial we will inspect a package in ros-tutorials, please install it using $ sudo apt-get install ros-ros-tutorials
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