ROS Workspace and Package Layout

The layout below is a typical ROS2 workspace:

user:~/workspace/ros-projects/ros_ws_demo$ tree
.
├── build
├── install
├── log
└── src
    ├── package_A
    │   ├── CMakeLists.txt
    │   ├── launch
    │   ├── msg
    │   ├── package.xml
    │   └── src
    │       ├── program_1.cpp
    │       ├── program_2.cpp
    │       └── program_3.cpp
    └── package_B
        ├── CMakeLists.txt
        ├── launch
        ├── package.xml
        └── src
            ├── program_x.cpp
            └── program_y.cpp

Terminology

• ~/workspace/ros-projects/ros_ws_demo is the root of the workspace

• ~/workspace/ros-projects/ros_ws_demo/src/package_A is the root of the package A