ROS创建功能包、自定义消息、收发节点、启动文件

1、创建功能包：

cd catkin_ws/src/
catkin_create_pkg alan_package roscpp rospy std_msgs
//rospack depends1 alan_package
//rospack find alan_package

2、创建自定义消息：

cd alan_package/
mkdir msg
cd msg/
touch alan_message.msg

alan_message.msg中写入：

string state
float32 x
float32 y

修改CMakeLists.txt

find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  message_generation
)

add_message_files(
  FILES
  alan_message.msg
)

generate_messages(
  DEPENDENCIES
  std_msgs
)

修改package.xml

<build_depend>message_generation</build_depend>
<exec_depend>message_runtime</exec_depend>

catkin_make编译，在devel/include/alan_package下生成自定义消息的头文件alan_message.h&#