Bundles are packages that offer a "system-wide" view of software functionality in Rock. See http://rock.opendfki.de/wiki/WikiStart/Standards/RG7 for a detailed description == Directories A basic Roby application has the following directories: config:: configuration files. config/init.rb is the main configuration file (loaded by all robots). Robot-specific configuration is in config/ROBOTNAME.rb. The main Roby configuration file is config/roby.yml. The default file describes all available configuration options. models/planners:: planner models. Global planners (shared by all robots) are in planners/. Robot-specific planners are in planners/ROBOTNAME/ models/tasks:: task models scripts/controllers:: robot controllers. These files are supposed to start the basic robot services, to make the robot ready. A robot shall have a controllers/ROBOTNAME.rb file which does that. data:: where all data files are. See #find_data. scripts:: various scripts needed to run and debug a Roby application The basic directory structure, and the global files, are installed by <tt>roby init</tt>. Basic robot files can be added by <tt>roby robot ROBOTNAME</tt>