[ROS] (04) Detailed explanation of package.xml

  文章只是个人学习过程中学习笔记,主要参考ROS教程¹.

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1、概述

  软件包（package）清单（manifest）是一个名为 package.xml² 的 XML 文件,Must be included in any compatible catkin The packages in the root folder.This document defines the properties about the package,例如软件包名称、版本号、作者、维护者以及对其他catkin软件包的依赖关系.

Note： package.xml类似于早期的rosbuild编译系统中使用的manifest.xml文件.

2、package.xml文件

2.1 Follow the format of the

  package.xml遵循XML（可扩展标记语言）标签的写法,包含的标签有：

编号	标签	功能	备注
1	<package>	根标签,All other tags nested below it	Required
2	<name>	软件包的名称	Required
3	<version>	软件包的版本号（必须是3个点分隔的整数）	Required
4	<description>	The contents of the package description	Required
5	<maintainer>	软件包的维护者	Required
6	<license>	发布代码的软件许可证（例如 GPL、BSD、ASL）	Required
7	<buildtool_depend>	Build system tools,通常为catkin	–
8	<depend>	指定依赖项为编译、导出、运行需要的依赖,最常用	–
9	<build_depend>	编译依赖项	–
10	<build_export_depend>	Compile the export dependency	–
11	<exec_depend>	执行依赖项	–
12	<test_depend>	测试用例依赖项	–
13	<doc_depend>	Documentation tool dependencies	–

2.2 文件解析

<!-- Syntax definition document ,内容遵循xml的1.0版本 -->
<?xml version="1.0"?>
<!-- (1) package为根标签,The format of the software package for2（推荐）,老版本为1 -->
<package format="2">
  <!-- (2) 软件包的名称 -->
  <name>beginner_tutorials</name>
  <!-- (3) 软件包的版本 -->
  <version>0.0.0</version>
  <!-- (4) The contents of the package description -->
  <description>The beginner_tutorials package</description>

  <!-- (5) 软件包的维护者 -->
  <maintainer email="[email protected]">fly</maintainer>

  <!-- (6) 发布代码的软件许可证(ROSThe core code by defaultBSD) -->
  <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
  <license>BSD</license>

  <!-- (可选) Url标签是可选的,But allows multiple,每个标签一个 -->
  <!-- 可选属性类型可以是:网站、bugThe tracker or repository -->
  <!-- UrlTags can help users find the document and report problems -->
  <!-- <url type="website">http://wiki.ros.org/beginner_tutorials</url> -->

  <!-- (可选) Author标签是可选的,But allows multiple,每个标签一个 -->
  <!-- Maintainers are released package,But the author is not necessarily the maintainer -->
  <!-- <author email="[email protected]">Jane Doe</author> -->

  <!-- (8) depend The tag is used to specify dependencies(依赖项可以是catkin包或系统依赖项) -->
  <!-- <depend>roscpp</depend> -->
  <!-- 上述 depend 标签依赖,Equivalent to the following two lines -->
  <!-- <build_depend>roscpp</build_depend> -->
  <!-- <exec_depend>roscpp</exec_depend> -->
  
  <!-- (9) 对编译时需要的包使用build_depend: -->
  <!-- <build_depend>message_generation</build_depend> -->
  
  <!-- (10) For the package you need to usebuild_export_dependTo build this package: -->
  <!-- <build_export_depend>message_generation</build_export_depend> -->
  
  <!-- (7) For the construction of tool bag,使用 buildtool_depend标签 -->
  <!-- Build tools dependencies specified this package to build their own build system tools.通常唯一的构建工具是 catkin -->
  <!-- <buildtool_depend>catkin</buildtool_depend> -->
  
  <!-- (11) Package of runtime needs,使用 exec_depend标签 -->
  <!-- 执行依赖关系,Specify the needed to run the code in a package of package,如动态链接库,可执行文件,Python模块,脚本文件 -->
  <!-- <exec_depend>message_runtime</exec_depend> -->
  
  <!-- (12) For only used to test the package usetest_depend: -->
  <!-- <test_depend>gtest</test_depend> -->
  
  <!-- (13) For only used to build the document bag,使用doc_depend -->
  <!-- <doc_depend>doxygen</doc_depend> -->

  <!-- ============================================ -->
  <!-- 实例说明 -->
  <!-- ============================================ -->
  <!-- (7) 依赖的构建工具,这是必须的 -->
  <buildtool_depend>catkin</buildtool_depend>
  
  <!-- (9) Specify the compile this package need to rely on -->
  <build_depend>roscpp</build_depend>
  <build_depend>rospy</build_depend>
  <build_depend>std_msgs</build_depend>

  <!-- (10) Specified according to the package build library required dependencies（导出） -->
  <build_export_depend>roscpp</build_export_depend>
  <build_export_depend>rospy</build_export_depend>
  <build_export_depend>std_msgs</build_export_depend>

  <!-- (11) Run the package the code required dependencies -->
  <exec_depend>roscpp</exec_depend>
  <exec_depend>rospy</exec_depend>
  <exec_depend>std_msgs</exec_depend>


  <!-- The export tag contains other, unspecified, tags -->
  <export>
    <!-- Other tools can request additional information be placed here -->

  </export>
</package>

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1. ROS.otg. ROS教程[EB/OL]. 2020-12-22[2022-7-5].
   http://wiki.ros.org/cn/ROS/Tutorials. ︎

2. ROS.org.MaryaBelanger. package.xml[EB/OL]. 2019-07-24[2022-07-18]. https://wiki.ros.org/catkin/package.xml. ︎