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How to find a particular executable file in package?

asked 2017-05-10 02:42:46 -0500

Simon Wang gravatar image

I want to see what a particular funtion does in detail, eg tf static_transform_publisher. When i use "roscd tf", but get into a dir that contains only a little thing, "cmake msg package.xml srv". I want to find the executable file or something py srcipy desired, so where is these file.

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answered 2017-05-10 05:33:05 -0500

rbbg gravatar image

To expand a bit on Chaos' answer, the packages that you have installed using apt-get will be in /opt/ros/<distro>/lib/, but source built packages will actually be somewhere else. You can find the location of the executables by running rospack libs-only-L tf. This will also work when you have built some packages from source and can be useful when dealing with multiple overlayed workspaces.

As a last point, if you are looking to understand how these libraries work, the executable is probably not the place you want to look and the source, like Chaos mentioned, will be a better place :)

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answered 2017-05-10 04:08:14 -0500

Chaos gravatar image

updated 2017-05-10 04:12:24 -0500

Hi! You have to navigate through the ROS filesystem in your root. For example, "tf" related executable files are in "/opt/ros/<ros-distribution-name>/lib/tf". By the way, if you want to check the source code, you can download the code from git. You can find the link in the package-related webpage.

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Asked: 2017-05-10 02:42:08 -0500

Seen: 111 times

Last updated: May 10 '17