（四）创建ROS msg 和 srv

转自：http://blog.sina.com.cn/s/blog_661159d50100od32.html

参考网址：http://www.ros.org/wiki/ROS/Tutorials/CreatingMsgAndSrv

 

1，msg和srv介绍：

       msg：msg文件是描述ROS 消息的描述文件，是用来为消息生成不同语言下源代码。msg文件存储在该package路径下的msg文件路径。

msg文件包括以上几种类型：

• int8, int16, int32, int64 (plus uint*)
• float32, float64
• string
• time, duration
• other msg files
• variable-length array[] and fixed-length array[C]

       srv：srv文件是用来描述服务的，由请求和响反应两部分组成。srv文件存储在srv文件路径。

srv文件就像msg文件，另外还包括请求和响应两部分，由“----”分开，例如：

int 64 A

int 64 B

---

int64 Sum

其中，A,B是请求者，Sum是响应者。

 

2，创建一个msg

 

例子：

(1) 我们在已经创建好的beginner_tutorials package上创建msg

$ roscd beginner_tutorials

$ mkdir msg

$ echo "int64 num" > msg/Num.msg

然后，

$ gedit CMakeLists.txt －－打开该package的CMakeList.txt，取消“# rosbuild_genmsg()”前的“#”号。

 

(2) 查看msg文件 

用法：

$ rosmsg show [message type]

例子：

$ rosmsg show beginner_tutorials/Num

得到结果：

int64 num

另外，也可以直接：

$ rosmsg show Num

得到结果：

[beginner_tutorials/Num]:

int64 num

 

注：在这个例子，消息类型包括：

• beginner_tutorials -- the package where the message is defined

• Num -- The name of the msg Num.

   

(3)　rosmsg帮助

用法：

$ rosmsg -h

得到结果：

Commands:

rosmsg show Show message description

rosmsg users Find files that use message

rosmsg md5 Display message md5sum

rosmsg package List messages in a package

rosmsg packages List packages that contain messages

 

Type rosmsg <command> -h for more detailed usage

 

或者：

$ rosmsg show -h

得到结果：

Usage: rosmsg show [options] <message type>

 

Options:

  -h, --help            show this help message and exit

  -r, --raw             show raw message text, including comments

  -b BAGFILE, --bag=BAGFILE

                        show message from .bag file

 

3，创建一个srv

 

(1) 在我们已经创建好的package上创建srv文件

$ roscd beginner_tutorials

$ mkdir srv

$ roscp rospy_tutorials AddTwoInts.srv　srv/AddTwoInts.srv －－将AddTwoInts.srv复制到srv/AddTwoInts.srv

$ gedit　CMakeLists.txt －－打开该package下的CMakeLists.txt，将“# rosbuild_gensrv()”前的“＃”去掉。

 

(2) 查看srv文件

rossrv命令

用法：

$ rossrv show <servicetype>

例子：

$ rossrv show beginner_tutorials/AddTwoInts

得到结果：int64 a

int64 b

---

int64 sum

 

$ rosmake beginner_tutorials　－－编译更新过的beginner_tutorials package

得到结果：

[ rosmake ] Packages requested are: ['beginner_tutorials']                      

[ rosmake ] Logging to directory/home/jason/.ros/rosmake/rosmake_output-20110110-102351

[ rosmake ] Expanded args ['beginner_tutorials'] to:

['beginner_tutorials']     

[ rosmake ] Checking rosdeps compliance for packages beginner_tutorials.  This may take a few seconds.

[ rosmake ] rosdep check passed all system dependencies in packages             

[rosmake-0] Starting >>> roslib [ make ]                                       

[rosmake-0] Finished <<< roslib ROS_NOBUILD in package roslib                   

[rosmake-1] Starting >>> roslang [ make ]                                       

[rosmake-1] Finished <<< roslang ROS_NOBUILD in package roslang

 No Makefile in package roslang

[rosmake-1] Starting >>> xmlrpcpp [ make ]                                     

[rosmake-1] Finished <<< xmlrpcpp ROS_NOBUILD in package xmlrpcpp               

[rosmake-0] Starting >>> rosconsole [ make ]                                    

[rosmake-0] Finished <<< rosconsole ROS_NOBUILD in package rosconsole           

[rosmake-0] Starting >>> std_msgs [ make ]                                     

[rosmake-0] Finished <<< std_msgs ROS_NOBUILD in package std_msgs               

[rosmake-0] Starting >>> rospy [ make ]                                        

[rosmake-0] Finished <<< rospy ROS_NOBUILD in package rospy                     

[rosmake-0] Starting >>> roscpp [ make ]                                       

[rosmake-0] Finished <<< roscpp ROS_NOBUILD in package roscpp                   

[rosmake-0] Starting >>> beginner_tutorials [ make ]                            

[rosmake-1] Starting >>> rosout [ make ]                                       

[rosmake-1] Finished <<< rosout ROS_NOBUILD in package rosout                   

[rosmake-0] Finished <<< beginner_tutorials [PASS] [ 7.58 seconds ]             

[ rosmake ] Results:                                                           

[ rosmake ] Built 11 packages with 0 failures.                                  

[ rosmake ] Summary output to directory                                        

[ rosmake ] /home/jason/.ros/rosmake/rosmake_output-20110110-102351

 

(3) rossrv帮助

用法：

$ rossrv -h

得到结果：

Commands:

rossrv show Show message description

rossrv users Find files that use message

rossrv md5 Display message md5sum

rossrv package List messages in a package

rossrv packages List packages that contain messages

 

Type rossrv <command> -h for more detailed usage

 

或者：

$ rossrv show -h

得到结果：

Usage: rossrv show [options] <service type>

 

Options:

  -h, --help            show this help message and exit

  -r, --raw             show raw message text, including comments

  -b BAGFILE, --bag=BAGFILE

                        show message from .bag file