创建工作空间
mkdir -p ~/ros_msg/src
创建package
cd ~/ros_msg/src
catkin_create_pkg ros_msg roscpp nav_msgs std_msgs geometry_msgs message_generation
创建msg目录
cd ros_msg
mkdir msg
将写好的.msg文件放到msg目录下
例如odom2tum.msg:
float32 x
float32 y
float32 z
float32 q_x
float32 q_y
float32 q_z
float32 q_w
修改CMakeLists.txt
cmake_minimum_required(VERSION 2.8.3)
project(generate_my_msgs)
## Compile as C++11, supported in ROS Kinetic and newer
add_compile_options(-std=c++11)
find_package(catkin REQUIRED COMPONENTS
roscpp
geometry_msgs
nav_msgs
std_msgs
message_generation
)
## Generate messages in the 'msg' folder
add_message_files(
FILES
odom2tum.msg
)
## Generate added messages and services with any dependencies listed here
generate_messages(
DEPENDENCIES
geometry_msgs
)
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES generate_my_msgs
# CATKIN_DEPENDS geometry_msgs message_generation nav_msgs roscpp std_msgs
# DEPENDS system_lib
)
include_directories(
include
${catkin_INCLUDE_DIRS}
)
在package.xml中添加
<exec_depend>message_runtime</exec_depend>
编译
cd ~/ros_msg
catkin_make
验证是否生成消息文件
在~/ros_msg/devel/include/ros_msg下看是否有odom2tum.h的文件,有的话说明成功。
在需要该消息的代码中添加
#include <ros_msg/odom2tum.h>
同时在需要该odom2tum.h的Cmakelists.txt文件中添加odom2tum.h的路径:
include_directories(
${CATKIN_DEVEL_PREFIX}/include
)
共同编译
将自定义消息的package和其他的package放到一个工作空间下,一起编译,共同作用。
最后在终端查看该消息是否录入成功