ROS2 自定义消息

ROS2 自定义自己的消息

CMakeLists.txt

cmake_minimum_required(VERSION 3.5)
project(wxx_msgs)

if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic -Werror)
endif()

find_package(ament_cmake REQUIRED)
find_package(builtin_interfaces REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(rosidl_default_generators REQUIRED)
find_package(std_msgs REQUIRED)

rosidl_generate_interfaces(${PROJECT_NAME}
  "msg/Test.msg"
  "srv/Test.srv"
  DEPENDENCIES builtin_interfaces geometry_msgs std_msgs
)

ament_export_dependencies(rosidl_default_runtime)

ament_package()

package.xml

注意，下面的 format=“3” 如果为2编译可能报错

<?xml version="1.0"?>
<?xml-model href="http: