创建ROS msg和srv

1.关于msg和srv

    msg: msg files are simple text files that describe the fields of a ROS message. They are used to generate source code for messages in different languages.

    srv: an srv file describes a service. It is composed of two parts: a request and a response.

    msg files are stored in themsg directory of a package, and srv files are stored in the srv directory.

    msgs are just simple text files with a field type and field name per line. The fieldtypes you can use are:
    int8, int16, int32, int64 (plusuint*)
    float32, float64
    string
    time, duration
    other msg files