ros2自己创建message

0.前言

• ros2查看message信息的命令是ros2 interface show yourmessage，查看服务也类似

1.流程

• ros2 pkg create --build-type ament_cmake tutorial_interfaces
• cd tutorial_interfaces
• mkdir msg
• cd msg
• vim xx.msg，内容

geometry_msgs/Point point

• 在CMakeLists.txt添加

find_package(geometry_msgs REQUIRED)
find_package(rosidl_default_generators REQUIRED)
rosidl_generate_interfaces(xx
  "msg/xx.msg"
  DEPENDENCIES builtin_interfaces geometry_msgs
)

• 在package.xml添加

<depend>geometry_msgs</depend>
<build_depend>rosidl_default_generators</build_depend>
  <exec_depend>rosidl_default_runtime</exec_depend>
  <member_of_group>rosidl_interface_packages</member_of_group>

• cd …/…/…
• colcon build --packages-selec