ROS自定义消息类型与使用

1、创建消息文件

在功能包中创建msg文件夹并在文件夹中创建消息文件exmsage.msg

Header header
int32 demo_int
float64 demo_double

2、修改package.xml

  <build_depend>roscpp</build_depend>
  <build_depend>std_msgs</build_depend>
  <build_depend>rosmsg</build_depend>
  <build_export_depend>roscpp</build_export_depend>
  <build_export_depend>std_msgs</build_export_depend>
  <build_export_depend>rosmsg</build_export_depend>
  <exec_depend>roscpp</exec_depend>
  <exec_depend>std_msgs</exec_depend>
  <exec_depend>rosmsg</exec_depend>
  <build_depend>message_generation</build_depend>
  <exec_depend>message_runtime</exec_depend>

3、修改CmakeList.txt

3.1 一处

find_package(catkin REQUIRED COMPONENTS
  roscpp
  std_msgs
  message_generation
)

3.2 二处

add_message_files(
  FILES
  exmsage.msg
  # Message2.msg
)

3.3 三处

generate_messages(
  DEPENDENCIES
  std_msgs
)

3.4 四处

catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES example_ros_msg
 CATKIN_DEPENDS roscpp rosmsg std_msgs message_runtime
#  DEPENDS system_lib
)

4、编译

catkin_make

不出意外的话会在工作空间的devel中会生成.h文件

5、使用

#include <ros/ros.h>

#include <example_ros_msg/exmsage.h>
#include<math.h>

int main(int argc, char * argv[])
{
    ros::init(argc, argv, "example_msg_plu");
    ros::NodeHandle n;
    ros::Publisher pub = n.advertise<example_ros_msg::exmsage>("examplemsg_plu",1);
    example_ros_msg::exmsage msg;
    ros::Rate naptim(1.0);
    msg.header.stamp = ros::Time::now();
    msg.header.frame_id = "base_frame";
    msg.header.seq = 0;
    msg.demo_int = 1;
    msg.demo_double = 100.0;
    double sqrt_arg;

    while (ros::ok())
    {
        msg.header.seq++;
        msg.header.stamp = ros::Time::now();
        msg.demo_int*=2.0;
        sqrt_arg = msg.demo_double;
        msg.demo_double = sqrt(sqrt_arg);
        pub.publish(msg);
        naptim.sleep();
    }
    

    // ros::spin();
    // ros::shutdown();
    return 0;
}

6、修改CmakeList

add_executable(example_mag_plu src/examplemsg_pub.cpp)
target_link_libraries(example_mag_plu
  ${catkin_LIBRARIES}
)