古月居_ROS自定义消息

  在ROS中，如果没有现成的消息类型来描述要去传递的消息，通常我们会使用自定义的消息类型。
  在catkin_ws/src/learning_topic目录下新建一个文件夹msg，然后在该文件夹内新建文件Person.msg：

string name
uint8 sex
uint8 age

uint8 unknown = 0
uint8 male    = 1
uint8 female  = 2

  在catkin_ws/src/learning_topic/package.xml中添加功能包依赖：

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

  在catkin_ws/src/learning_topic/CMakeLists.txt中添加编译选项：

find_package(catkin REQUIRED COMPONENTS
    geometry_msgs
    roscpp
    rospy
    std_msgs
    turtlesim
    message_generation # 这是新加的
)

add_message_files(FILES Person.msg)
generate_messages(DEPENDENCIES std_msgs)

catkin_package(
    # INCLUDE_DIRS include
    # LIBRARIES learning_topic
    CATKIN_DEPENDS geometry_msgs roscpp rospy std_msgs turtlesim message_runtime
    # DEPENDS system_lib
)

  最后编程生成语言相关文件：

$ cd ~/catkin_ws
$ catkin_make

于是会在catkin_ws/devel/include/learning_topic目录下生成一个Person.h文件。
  在catkin_ws/src/learning_topic/src下新建文件person_publisher.cpp：

/* 该例程将发布“/person_info”话题，自定义消息类型“learning_topic::Person” */
#include <ros/ros.h>
#include "learning_topic/Person.h"

int main ( int argc, char **argv ) {
   
    ros::init ( argc, argv, "person_publisher" ); /* ROS节点初始化 */
    ros::NodeHandle n; /* 创建节点句柄 */
    /* 创建一个Publisher，发布名为“/person_info”的topic，消息类型为“learning_topic::Person”