ROS (一) ----消息服务的创建与使用

ROS(一)

Messages & Services Generation

Any .msg file in the msg directory will generate code for use in all supported languages. The C++ message header file will be generated in ~/catkin_ws/devel/include/<package_name>/。 .srv will generate header files in the same directory as the message header files.

service 与 message 创建步骤类似。

1. 修改 CMakeLists.txt 与 package.xml

# `CMakeLists.txt` 添加 `message_generation` 包
find_package(catkin REQUIRED COMPONENTS
   roscpp
   rospy
   std_msgs
   message_generation
)

# 依赖 message_runtime 
catkin_package(
  ...
  CATKIN_DEPENDS message_runtime std_msgs # std_msgs 是依赖的消息
  ...)

# 添加相关文件
add_message_files(
  DIRECTORY msg # 指定文件夹，默认是 msg
  FILES
  Num.msg
)

# 消息依赖
generate_messages(
  DEPENDENCIES
  std_msgs
)

生成消息时，修改 package.xml。

</-- Build 时只需要 message_generation --/>
<build_depend>message_generation</build_depend>