创建workspace(catkin_make)
mkdir -p ~/catkin_lljws/src
cd ~/catkin_ws/
catkin_make source devel/setup.bash创建工作包(catkin_creat_pkg)
cd ~/catkin_lljws/srccatkin_create_pkg llj_package std_msgs rospy roscpp// catkin_creat_pkg pkgname dependence1 dependence2.....定制自身的消息
roscd 11j_package
mkdir msg
gedit msg1{
string first_name
string last_name
uint8 age
uint32 score}给rosmaster添加消息的定义修改package.XML和CMakeList.txt;open package.XML添加:<build_depend>message_generation</build_depend>
<exec_depend>message_runtime</exec_depend>open CMakeList.txt修改下列函数:find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
message_generation
)catkin_package(
...
CATKIN_DEPENDS message_runtime ...
...)add_message_files(
FILES
Message1.msg
Message2.msg
)generate_messages(