ROS的文件系统 (二)

ROS的文件系统的基本概念,

ROS文件系统中的两个最基本的概念:Package和Manifest,即包和清单文件。

Package是组织ROS代码的最基本单位,每一个Package都可以包括库文件,可执行文件,脚本及其它的一些文件。

Manifest文件是对Package的相关信息的一个描述。他提供了Package之间的依赖性,以及一个包的元信息,比如版本、维护着和许可证等信息。

文件系统提供了几个很有用的命令行的工具,专门用来对ROS的文件系统进行操作。

rospack被用来获取一个包的相关信息,这里只介绍它的find选项,用法如下:

# rospack find [package_name]  

您可以在一个新打开的终端中输入如

rospack find roscpp  

就可以找到roscpp这个包的位置信息,可能会返回类似于下面的这种结果:

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" alt="" />

roscd命令允许您利用包的名字直接切换到相应的文件目录下,当然这是对ROS文件系统而言,它的使用方法如下

  1. roscd [locationname[/subdir]]

举一个例子,直接在终端输入:

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" alt="" />

roscd将只能打开存在与环境变量ROS_PACKAGE_PATH中的目录及其子目录,您可以使用如下命令来查看ROS_PACKAGE_PATH中的内容:

每一个路径使用“:”分割。

roscd log将会把您带到ROS存储日志文件的目录下面,当然如果您之前没有运行过任何的ROS程序的话,那么将会提示一个错误,即log文件夹不存在。

rosls能够让您直接利用包的名字,去列举包中的所有文件即文件夹,而不用使用绝对路径。它的使用和roscd是一样的,只有存在于ROS_PACKAGE_PATH中的目录及其子目录才能使用这个命令。使用方法如下:

# rosls [locationname[/subdir]]

例子如下:

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" alt="" />

之前有过使用linux命令行经验的人都清楚,我们在输入一个比较长的文件的名字时,可以使用tab键来提供方便,ros也是这样的,例如:

# roscd roscpp_tut<<< now push the TAB key >>>

在输入完tab键之后,看到的结果如下:

当然有些场合如果工作目录下有多个文件有相同的前缀时,就需要我们输入到直到系统能够识别为止。

相信很多使用过linux的朋友们会发现这些命令和linux下的命令是非常相似的。

  你也许已经注意到了ROS命令工具的的命名方式:

  • rospack = ros + pack(age)
  • roscd = ros + cd
  • rosls = ros + ls

这种命名方式在许多ROS命令工具中都会用到。

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