一。创建文档
文档A——src——catkin_make——catkin_create_pkg 文件B roscpp rospy std_msgs
src文件夹同级建立msg——Person.msg]
Person.msg
Header header
float64 people_position
float64 left_position
float64 right_positon
针对package添加
<build_depend>message_generation</build_depend>
<exec_depend>message_runtime</exec_depend>
针对Cmakelist.txt添加
(1)
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs ##自定义消息类型Person.msg中引用的标准消息
geometry_msgs ##自定义消息类型Person.msg中引用的标准消息
message_generation ##消息生成必加
)
(2)
## Generate messages in the 'msg' folder
add_message_files(
FILES
Person.msg ##新建的消息文件名
)
(3)
## Generate added messages and services with any dependencies listed here
generate_messages(
#添加所依赖的消息类型
DEPENDENCIES
std_msgs ##
geometry_msgs ##
)
(4)
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES wgs84toenu
CATKIN_DEPENDS roscpp rospy std_msgs message_runtime
# DEPENDS system_lib
)
二。pycharm中
from people_in_pix.msg import Person
setting——python interpreter 中添加msg文件路径