vscode自定义消息配置

1.定义msg文件
功能包下新建 msg 目录，添加文件 Person.msg
文件内容

string name
uint16 age
float64 height

2.编辑配置文件
package.xml中添加编译依赖与执行依赖
<build_depend>message_generation</build_depend>
<exec_depend>message_runtime</exec_depend>
CMakeLists.txt编辑 msg 相关配置

find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  message_generation
)
# 需要加入 message_generation,必须有 std_msgs
## 配置 msg 源文件
add_message_files(
  FILES
  Person.msg
)
# 生成消息时依赖于 std_msgs
generate_messages(
  DEPENDENCIES
  std_msgs
)
#执行时依赖
catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES demo02_talker_listener
  CATKIN_DEPENDS roscpp rospy std_msgs message_runtime
#  DEPENDS system_lib
)
add_executable(pub_node src/persion_msg_pub_node.cpp)
add_executable(sub_node src/persion_msg_sub_node.cpp)
#让自定义消息优先编译生成对应头文件，这样在使用的时候防止显示未定义
add_dependencies(pub_node ${PROJECT_NAME}_generate_messages_cpp) 
add_dependencies(sub_node ${PROJECT_NAME}_generate_messages_cpp)
target_link_libraries(pub_node 
  ${catkin_LIBRARIES}
)
target_link_libraries(sub_node 
  ${catkin_LIBRARIES}
)

pub_node.cpp

#include "ros/ros.h"
#include "persion_msg/Persion.h"

int main(int argc, char *argv[])
{
    ros::init(argc, argv, "demo4");

    ros::NodeHandle nh;

    ros::Publisher pub = nh.advertise<persion_msg::Persion>("pub_persion_msg",10);

    persion_msg::Persion persion;
    persion.age = 30;
    persion.name = "songjian";
    persion.height = 170;
    
    ros::Rate rate(20);


while (ros::ok())
{
    pub.publish(persion);
    rate.sleep();
    ros::spinOnce();
}
    return 0;
}

sub_node.cpp

#include "ros/ros.h"
#include "persion_msg/Persion.h"

void Dopersion(const persion_msg::Persion::ConstPtr & msg){

    ROS_INFO("name: %s age:%d height:%.2f", msg->name.c_str(), msg->age, msg->height);

}

int main(int argc, char *argv[])
{
    ros::init(argc, argv, "demo4_sub");
    ros::NodeHandle nh;
    ros::Subscriber sub = nh.subscribe("pub_persion_msg", 10, Dopersion);
    ros::spin();
    return 0;
}