ROS学习笔记（消息msg和服务srv）

创建ROS消息和服务后，package.xml和CMakeLists.txt对应要修改的地方

• package.xml

  <build_depend>message_generation</build_depend>
  <run_depend>message_runtime</run_depend>

作用：确保msg/srv文件被转换为其他语言的源代码（如C++）。在构建时需要“message_generation”,运行时需要“message_runtime”
示例：

<?xml version="1.0"?>
<package>
  <name>add_two_ints</name>
  <version>0.0.0</version>
  <description>The add_two_ints package</description>

  <maintainer email="pi@todo.todo">pi</maintainer>

  <license>TODO</license>

  <buildtool_depend>catkin</buildtool_depend>

  <build_depend>roscpp</build_depend>
  <build_depend>std_msgs</build_depend>
  <build_depend>message_generation</build_depend>

  <run_depend>roscpp</run_depend>
  <run_depend>std_msgs</run_depend>
  <run_depend>message_runtime</run_depend>

</package>

• CMakeLists.txt
  find_package()——添加对message_generation的依赖（”Despite its name, message_generation works for both msg and srv.”）
  add_message_files()——添加msg文件
  add_service_files()——添加srv文件
  generate_message()——所依赖的含有.msg文件的package（一定要在catkin_package()之前）
  catkin_package()——设置运行依赖
  add_dependencies()——确保自定义消息的头文件在使用之前已经被生成（catkin并行编译所有的package）

示例:

cmake_minimum_required(VERSION 2.8.3)
project(add_two_ints)

find_package(catkin REQUIRED COMPONENTS
  roscpp
  std_msgs
  message_generation
)

add_message_files(
   FILES
   Num.msg
)

add_service_files(
   FILES
   AddTwoInts.srv
)

generate_messages(
  DEPENDENCIES
  std_msgs
)

catkin_package(
  CATKIN_DEPENDS roscpp std_msgs message_runtime
)

include_directories(
  ${catkin_INCLUDE_DIRS}
)

add_executable(add_two_ints_server src/add_two_ints_server.cpp)
target_link_libraries(add_two_ints_server ${catkin_LIBRARIES})
add_dependencies(add_two_ints_server add_two_ints_gencpp)

add_executable(add_two_ints_client src/add_two_ints_client.cpp)
target_link_libraries(add_two_ints_client ${catkin_LIBRARIES})
add_dependencies(add_two_ints_client add_two_ints_gencpp)

• rosmsg/rossrv 查看消息/服务