ROS编写自己的msg(Python实现)

编写Person.msg文件

 touch Person.msg#生成Person.msg文件

#位置/home/shixiaocheng/catkin_ws/src/test/msg/Person.msg
string name
uint8 sex
uint8 age

uint8 unknown = 0
uint8 male = 1
uint8 female = 2

修改package.xml
需要message_generation生成C++或Python能使用的代码，需要message_runtime提供运行时的支持，所以package.xml中添加以下两句:

<build_depend>message_generation</build_depend>
<exec_depend>message_runtime</exec_depend> -->
 
<!-- 旧版本中 <exec_depend>message_runtime</exec_depend> -->
<!-- 替换为　 <run_depend>message_runtime</run_depend> -->

修改CMakeLists.txt
CMakeLists.txt需要使用find_package命令查找依赖的包，通过add_message_files命令指定msg文件，通过generate_messages命令指定生成消息文件时的依赖项，通过catkin_package设置运行依赖。
完整的文件内容如下所示（CMakeLists.txt）

cmake_minimum_required(VERSION 3.0.2)
project(test)

## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  geometry_msgs
  roscpp
  rospy
  std_msgs
  turtlesim
  message_generation
)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)


## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
# add_message_files(
#   FILES
#   Message1.msg
#   Message2.msg
# )

## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

## Generate added messages and services with any dependencies listed here
# generate_messages(
#   DEPENDENCIES
#   geometry_msgs#   std_msgs
# )

add_message_files(FILES Person.msg)
generate_messages(DEPENDENCIES std_msgs)
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES test
  CATKIN_DEPENDS geometry_msgs roscpp rospy std_msgs turtlesim message_runtime
#  DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
  ${catkin_INCLUDE_DIRS}
)

## Declare a C++ library
# add_library(${PROJECT_NAME}
#   src/${PROJECT_NAME}/test.cpp
# )

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/test_node.cpp)

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
#   ${catkin_LIBRARIES}
# )

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# catkin_install_python(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_test.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)

完整Python 代码：

#!/usr/bin/env python
import rospy
from test.msg import  Person#Person.msg文件在test/msg文件夹下
#需在工程根文件夹下面运行，否则会报错，同时要设置可运行

def people_publisher():
    rospy.init_node('People',anonymous=True)
    people_pub=rospy.Publisher('/mymsg',Person,queue_size=10)
    rate=rospy.Rate(10);
    while not rospy.is_shutdown():
        vel_msg=Person()
        vel_msg.name='sxc'
        vel_msg.age = 18
	vel_msg.sex = Person.male
        people_pub.publish(vel_msg)
        rospy.loginfo('name: %s m/s, sex: %0.2f ',vel_msg.name,vel_msg.sex)
        rate.sleep()
if __name__=='__main__':
    try:
        people_publisher()
    except rospy.ROSInterruptException:
        pass

输出：

shixiaocheng@sxc:~/catkin_ws$ rosrun test testmsg.py
[INFO] [1602584039.463474]: name: sxc m/s, sex: 1.00 
[INFO] [1602584039.564057]: name: sxc m/s, sex: 1.00 
[INFO] [1602584039.663899]: name: sxc m/s, sex: 1.00 
[INFO] [1602584039.764006]: name: sxc m/s, sex: 1.00 
[INFO] [1602584039.864114]: name: sxc m/s, sex: 1.00 
[INFO] [1602584039.964031]: name: sxc m/s, sex: 1.00 
[INFO] [1602584040.064045]: name: sxc m/s, sex: 1.00 
[INFO] [1602584040.164024]: name: sxc m/s, sex: 1.00 
[INFO] [1602584040.264088]: name: sxc m/s, sex: 1.00 
[INFO] [1602584040.363991]: name: sxc m/s, sex: 1.00 
[INFO] [1602584040.464082]: name: sxc m/s, sex: 1.00 
[INFO] [1602584040.564164]: name: sxc m/s, sex: 1.00 
[INFO] [1602584040.664054]: name: sxc m/s, sex: 1.00 
[INFO] [1602584040.763985]: name: sxc m/s, sex: 1.00 
[INFO] [1602584040.863866]: name: sxc m/s, sex: 1.00 
[INFO] [1602584040.964027]: name: sxc m/s, sex: 1.00 
[INFO] [1602584041.064305]: name: sxc m/s, sex: 1.00 
[INFO] [1602584041.164052]: name: sxc m/s, sex: 1.00 
[INFO] [1602584041.264043]: name: sxc m/s, sex: 1.00 
[INFO] [1602584041.363715]: name: sxc m/s, sex: 1.00 
[INFO] [1602584041.463754]: name: sxc m/s, sex: 1.00 
[INFO] [1602584041.563787]: name: sxc m/s, sex: 1.00 
[INFO] [1602584041.663777]: name: sxc m/s, sex: 1.00