ROS 2自定义消息类型

前言

介绍如何引用自定义消息作为自定义消息类型。

参考链接

https://docs.ros.org/en/foxy/Tutorials/Custom-ROS2-Interfaces.html?highlight=msg

操作步骤

1. 创建point_msgs消息包

cd ~/dev_ws/src
ros2 pkg create --build-type ament_cmake point_msgs
cd point_msgs
mkdir msg
cd msg
gedit PlanningPoint.msg

将以下信息写入PlanningPoint.msg并保存

float64 x
float64 y
float64 z
float32 yaw
float32 v
float32 time

2. 修改point_msgs包的CMakeLists.txt与package.xml
   完成修改的CMakeLists.txt如下

cmake_minimum_required(VERSION 3.5)
project(point_msgs)

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)
find_package(rosidl_default_generators REQUIRED)

rosidl_generate_interfaces(${PROJECT_NAME}
  "msg/PlanningPoint.msg"
)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # uncomment the line when a copyright and license is not present in all source files
  #set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # uncomment the line when this package is not in a git repo
  #set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()

对应的package.xml如下所示

<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
  <name>point_msgs</name>
  <version>0.0.0</version>
  <description>TODO: Package description</description>
  <maintainer email="xxxx@blg.com">xxxx</maintainer>
  <license>TODO: License declaration</license>

  <buildtool_depend>ament_cmake</buildtool_depend>
  <build_depend>rosidl_default_generators</build_depend>

  <test_depend>ament_lint_auto</test_depend>
  <test_depend>ament_lint_common</test_depend>

  <exec_depend>rosidl_default_runtime</exec_depend>

  <member_of_group>rosidl_interface_packages</member_of_group>
  <export>
    <build_type>ament_cmake</build_type>
  </export>
</package>

3. 创建path_msgs消息包

cd ~/dev_ws/src
ros2 pkg create --build-type ament_cmake path_msgs
cd path_msgs
mkdir msg
cd msg
gedit PlanningPath.msg

将以下信息写入PlanningPath.msg并保存
注：引用自定义消息作为自定义消息的消息类型

std_msgs/Header header

point_msgs/PlanningPoint[] point

4. 修改path_msgs包的CMakeLists.txt与package.xml
   完成修改的CMakeLists.txt如下

cmake_minimum_required(VERSION 3.5)
project(path_msgs)

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
find_package(std_msgs REQUIRED)
find_package(point_msgs REQUIRED)
find_package(rosidl_default_generators REQUIRED)

rosidl_generate_interfaces(${PROJECT_NAME}
  "msg/PlanningPath.msg"
  DEPENDENCIES std_msgs point_msgs 
)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # uncomment the line when a copyright and license is not present in all source files
  #set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # uncomment the line when this package is not in a git repo
  #set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()

对应的package.xml如下所示

<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
  <name>path_msgs</name>
  <version>0.0.0</version>
  <description>TODO: Package description</description>
  <maintainer email="zhangying@blg.com">zhangying</maintainer>
  <license>TODO: License declaration</license>

  <buildtool_depend>ament_cmake</buildtool_depend>
  <build_depend>rosidl_default_generators</build_depend>

  <test_depend>ament_lint_auto</test_depend>
  <test_depend>ament_lint_common</test_depend>
  
  <depend>point_msgs</depend>
  <exec_depend>rosidl_default_runtime</exec_depend>

  <member_of_group>rosidl_interface_packages</member_of_group>
  <export>
    <build_type>ament_cmake</build_type>
  </export>
</package>