7、话题消息的定义与使用

如何自定义话题消息
1、定义msg文件

Person.msg
string name
uint8 sex
uint8 age
uint8 unknown = 0
uint8 male = 1
uint8 female =2

2、在package.xml中添加功能包依赖

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

对应位置如图：

3、在CMakeLists.txt添加编译选项

• find_package( …… message_generation)
• add_message_files(FILES Person.msg)
generate_messages(DEPENDENCIES std_msgs)
• catkin_package(…… message_runtime)

对应位置如图：

 4、配置CMakeLists.txt中的编译规则

add_executable(person_publisher src/person_publisher.cpp)
target_link_libraries(person_publisher ${catkin_LIBRARIES})
add_dependencies(person_publisher ${PROJECT_NAME}_generate_messages_cpp)
（实现自定义消息的链接）
add_executable(person_subscriber src/person_subscriber.cpp)
target_link_libraries(person_subscriber ${catkin_LIBRARIES})
add_dependencies(person_subscriber ${PROJECT_NAME}_generate_messages_cpp)

5、编译生成语言相关文件

$ cd ~/catkin_ws
$ catkin_make
$ source devel/setup.bash
$ roscore
$ rosrun learning_topic person_subscriber
$ rosrun learning_topic person_publisher