The rapp_platform_ros_communications ROS package contains all the necessary ROS message, service and action files the RAPP Platform nodes require to operate. These are placed in the respoctive msg, srv and action folders. In these folders, each file is being kept under a dedicated folder for each ROS package.

This way, each ROS node has to declare the rapp_platform_ros_communications as dependency, in order to use ROS messages, services or actions.