ros创建自定义消息msg

目录

 

1.创建工作空间

2.创建功能包

3.创建test_msg.cpp文件

4.修改cmake文件

5.修改package.xml文件，添加

6.编译

---

1.创建工作空间

mkdir -p ~/test_ws/src 
cd ~/test_ws/src
catkin_init_workspace
cd ~/test_ws
catkin_make

2.创建功能包

cd ~/tets_ws/src
catkin_create_pkg test_msg roscpp std_msgs

在test_msg里创建msg文件夹，在里面创建t_msg.msg文件

Header header
int32 demo_int
float64 demo_double

3.创建test_msg.cpp文件

#include <ros/ros.h>
#include <test_msg/t_msg.h>
#include <math.h>

int main(int argc,char **argv){
  ros::init(argc,argv,"example_ros_message_publisher");
  ros::NodeHandle n;
  ros::Publisher my_publisher_object=n.advertise<test_msg::t_msg>("example_topic",1);
  test_msg::t_msg my_new_message;
  ros::Rate naptime(1.0);
  my_new_message.header.stamp=ros::Time::now();
  my_new_message.header.seq=0;
  my_new_message.header.frame_id="base_frame";
  my_new_message.demo_int=1;
  my_new_message.demo_double=100.0;
  double sqrt_arg;
  while(ros::ok())
  {
  my_new_message.header.seq++;
  my_new_message.header.stamp=ros::Time::now();
  my_new_message.demo_int*=2.0;
  sqrt_arg=my_new_message.demo_double;
  my_new_message.demo_double=sqrt(sqrt_arg);
  my_publisher_object.publish(my_new_message);
  naptime.sleep();
  }
}

4.修改cmake文件

cmake_minimum_required(VERSION 3.0.2)
project(test_msg)
find_package(catkin REQUIRED COMPONENTS
  message_generation
  roscpp
  std_msgs
)
add_message_files(FILES t_msg.msg)
generate_messages(DEPENDENCIES std_msgs)
catkin_package(CATKIN_DEPENDS message_runtime)
include_directories(${catkin_INCLUDE_DIRS})
add_executable(test_msg src/test_msg.cpp)
add_dependencies(test_msg ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(test_msg ${catkin_LIBRARIES}) 

5.修改package.xml文件，添加

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

6.编译

cd ~/test_ws
source devel/setup.bash
rosrun test_msg test_msg 

查看消息，一定要source 不然会报错

cd ~/test_ws
source devel/setup.bash
rostopic echo /example_topic