自定义消息类型
创建功能包(消息功能包)
cd /catkin_ws/src
catkin_create_pkg
catkin_create_pkg kk_msgs roscpp rospy std_msgs message_generation message_runtime
创建消息文件
cd kk_msgs
mkdir msg
cd msg
gedit King.msg
King.msg 内容
string room
int64 money
string data
创建编译规则
CMakeLists.txt
添加如下内容
add_message_files(
FILES
King.msg
)
#这里只用到了依赖的std_msgs中的string和int所以只写一个std_msgs即可
generate_messages(
DEPENDENCIES
std_msgs
)
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES kk_pkg
CATKIN_DEPENDS message_generation message_runtime roscpp rospy std_msgs
# DEPENDS system_lib
)
创建包规则
package.xml
确保这里有如下内容
<build_depend>message_generation</build_depend>
<build_depend>message_runtime</build_depend>
<exec_depend>message_generation</exec_depend>
<exec_depend>message_runtime</exec_depend>
展示新建的包结构
rosmsg show king_msgs/King
//输出
string room
int64 money
string data