ros2-humble 创建自定义消息并创建新节点使用该消息

创建自定义消息

mkdir ~/workspace/src/more_interfaces/msg -p

在workspace/src目录中：

ros2 pkg create --build-type amen_cmake more_interfaces

cd more_interfaces

rm -rf src include

touch KeyBoardValue.msg //文件名首字母必须大写

在KeyBoardValue.msg中添加以下消息字段:

uint8 axle_x
uint8 axle_y
uint8 axle_z

变量名必须小写

编辑CmakeList.txt同下:

cmake_minimum_required(VERSION 3.8)
project(more_interfaces)

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)

set(msg_files
  "msg/KeyBoardValue.msg"
)

rosidl_generate_interfaces(${PROJECT_NAME}
  ${msg_files}
)

ament_export_dependencies(rosidl_default_runtime)
ament_package()

在package.xml中添加以下内容:

  <buildtool_depend>rosidl_default_generators</buildtool_depend>
  <exec_depend>rosidl_default_runtime</exec_depend>
  <member_of_group>rosidl_interface_packages</member_of_group>

cd ~/workspace

colcon build --packages-select more_interfaces

编译成功后，在~/workspace/install/more_interfaces/include/more_interfaces/more_interfaces/msg/下产生头文件，此头文件名称后续应用新创建的节点

创建新的节点

cd ~/workspace

ros2 pkg create --build-type ament_cmake --node-name NodeKeyBoardCtrl PkgKeyBoardCtrl

在 ~/workspace/src/PkgKeyBoardCtrl/src/NodeKeyBoardCtrl.cpp中添加:#include "more_interfaces/msg/key_board_value.hpp"

~/workspace/src/PkgKeyBoardCtrl/CmakeList.txt内容如下:

cmake_minimum_required(VERSION 3.8)
project(PkgKeyBoardCtrl)

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(rclcpp REQUIRED)
find_package(more_interfaces REQUIRED)

add_executable(NodeKeyBoardCtrl src/NodeKeyBoardCtrl.cpp)
ament_target_dependencies(NodeKeyBoardCtrl rclcpp more_interfaces)

target_include_directories(NodeKeyBoardCtrl PUBLIC
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
  $<INSTALL_INTERFACE:include>)
target_compile_features(NodeKeyBoardCtrl PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17

install(TARGETS NodeKeyBoardCtrl
  DESTINATION lib/${PROJECT_NAME})

# rosidl_get_typesupport_target(cpp_typesupport_target ${PROJECT_NAME} rosidl_typesupport_cpp)

# target_link_libraries(publish_address_book "${cpp_typesupport_target}")

ament_package()

~/workspace/src/PkgKeyBoardCtrl/package.xml 添加如下内容:

  <depend>rclcpp</depend>
  <depend>more_interfaces</depend>

vscode会显示找不到头文件，配置vscode头文件包含路径如下:

"includePath": [
                "${workspaceFolder}/**",
                "/opt/ros/humble/include/**",
                "~/workspace/install/more_interfaces/include/more_interfaces"
            ],

colcon build --packages-select PkgKeyBoardCtrl