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Update the package contents. (backport #3541) #3549

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May 8, 2023
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Update the package contents. (backport #3541) #3549

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31 changes: 22 additions & 9 deletions source/Tutorials/Beginner-Client-Libraries/Creating-Your-First-ROS2-Package.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -39,15 +39,18 @@ ROS 2 Python and CMake packages each have their own minimum required contents:

.. group-tab:: CMake

* ``package.xml`` file containing meta information about the package
* ``CMakeLists.txt`` file that describes how to build the code within the package
* ``include/<package_name>`` directory containing the public headers for the package
* ``package.xml`` file containing meta information about the package
* ``src`` directory containing the source code for the package

.. group-tab:: Python

* ``package.xml`` file containing meta information about the package
* ``setup.py`` containing instructions for how to install the package
* ``resource/<package_name>`` marker file for the package
* ``setup.cfg`` is required when a package has executables, so ``ros2 run`` can find them
* ``/<package_name>`` - a directory with the same name as your package, used by ROS 2 tools to find your package, contains ``__init__.py``
* ``setup.py`` containing instructions for how to install the package
* ``<package_name>`` - a directory with the same name as your package, used by ROS 2 tools to find your package, contains ``__init__.py``

The simplest possible package may have a file structure that looks like:

Expand All @@ -59,16 +62,20 @@ The simplest possible package may have a file structure that looks like:

my_package/
CMakeLists.txt
include/my_package/
package.xml
src/

.. group-tab:: Python

.. code-block:: console

my_package/
setup.py
package.xml
resource/my_package
setup.cfg
setup.py
my_package/


3 Packages in a workspace
Expand All @@ -87,18 +94,24 @@ A trivial workspace might look like:

workspace_folder/
src/
package_1/
cpp_package_1/
CMakeLists.txt
include/cpp_package_1/
package.xml
src/

package_2/
setup.py
py_package_1/
package.xml
resource/package_2
resource/py_package_1
setup.cfg
setup.py
py_package_1/
...
package_n/
cpp_package_n/
CMakeLists.txt
include/cpp_package_n/
package.xml
src/


Prerequisites
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