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&#