ROS消息(msg, srv, action)功能包的独立化及跨包调用

具体参照https://blog.csdn.net/qq_16775293/article/details/80597763

头文件包含进目标包的头文件，例如：

#include "msgfile/test_msg.h"

CMakeList.txt  进行两处修改

find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  msgfile
)

include_directories(
  include ${catkin_INCLUDE_DIRS}  
)

和package.xml   新增依赖文件

  <build_depend>msgfile</build_depend>
  <build_export_depend>msgfile</build_export_depend>
  <exec_depend>msgfile</exec_depend>

之后可以构建和运行了