ROS自定义msg类型并在同一个包和不同包的头文件中调用

需要写自定义的msg类型的时候，比如我需要在包uwb_driver中创建一个topic类型为std_ang，步骤如下

1. 首先在package目录下创建一个文件夹名为msg，再在msg文件夹中创建dist_ang.msg把我想要在里面定义的具体的变量名写进去
   float32 dist
   float32 ang

2. 再在包的Cmakelist.txt中写上如下代码`

   find_package(catkin REQUIRED COMPONENTS
   dynamic_reconfigure
   message_generation //主要是这个
   roscpp
   rospy
   tf
   std_msgs
   )
   add_message_files(
   FILES
   dist_ang.msg //这个新写的msg文件
   )

   generate_messages(DEPENDENCIES
   std_msgs
   )

   catkin_package(
   CATKIN_DEPENDS
   message_runtime)

   include_directories(
   ${catkin_INCLUDE_DIRS}
   )

   add_executable(${PROJEC{T}_{N}AME}_{n}odesrc/uw{b}_{d}river.cpp)targe{t}_{l}in{k}_{l}ibraries(${PROJECT_NAME}_node
   ${catkin_LIBRARIES}
   )
   include_directories(
   include
   ${catkin_INCLUDE_DIRS}

)

3. 在package.xml中修改相关语句
   <build_depend>message_generation</build_depend>
   <exec_depend>message_runtime</exec_depend> //这两句话很关键，有的是run_depend 有的是execute_depend
4. 编译catkin_make
5. 再用rosmsg show uwb_drive/dist_ang 就可以看到，并且可以#include<uwb_drive/dist_ang.h>