ros之自定义message

ros之自定义message

在aruco_map功能包下自定义message

• aruco_map/msg/aruco_marker.msg

std_msgs/Header header
bool marker_visibile
int32 num_of_visible_markers
geometry_msgs/Pose global_camera_pose
int32[] marker_ids
geometry_msgs/Pose[] global_marker_poses

• CMakeLists.txt

find_package(catkin REQUIRED COMPONENTS
             std_msgs
             message_generation）
             
#generate message
add_message_files(FILES aruco_marker.msg)
generate_messages(DEPENDENCIES
                  std_msgs
                  geometry_msgs)

• 生成头文件

#include <aruco_map/aruco_marker.h>

• message类型

aruco_map::aruco_marker

转载于:https://www.cnblogs.com/ChrisCoder/p/10199590.html