Creating a ROS msg and srv

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2019-8-19

msg: msg files are simple text files that describe the fields of a ROS message. They are used to generate source code for messages in different languages.
srv: an srv file describes a service. It is composed of two parts: a request and a response.
msg文件类似于googleprotobuf中的proto文件,用以描述msg类型,以便后续生成相应的msg代码.
srv文件用以描述一个service.由request/response两部分组成.

创建一个msg文件并生成相应源码

定义.msg文件
修改package.xml
修改CMakeLists.txt

1.定义msg文件
msg文件类似于googleprotobuf中的proto文件,用以描述msg类型,以便后续生成相应的msg代码.

roscd beginner_tutorials
mkdir msg
echo "int64 num" > msg/Num.msg

2.修改package.xml

这两句要加到package.xml文件中.才能将.msg文件转换为相应的c++/python等语言的源码.
 <build_depend>message_generation</build_depend>
 <exec_depend>message_runtime</exec_depend>

3.修改CMakelists.txt
1.添加find_package依赖

把message_generation加入find_package
find_package(catkin REQUIRED COMPONENTS
   roscpp
   rospy
   std_msgs
   message_generation
)

2.添加runtime依赖

catkin_package(
  ...
  CATKIN_DEPENDS message_runtime ...
  ...)

3.定义msg文件

add_message_files(
  FILES
  Num.msg
)

generate_messages(
  DEPENDENCIES
  std_msgs
)

之后我们可以用rosmsg检查我们创建的msg

rosmsg show [message type]
rosmsg show beginner_tutorials/Num
rosmsg show Num

创建一个srv文件并生成相应源码

srv文件

int64 A
int64 B
---
int64 Sum

以—分隔,request是A和B,response是Sum.

定义srv文件
修改package.xml
修改CMakeLists.txt
与msg不同的是添加srv文件时需要修改的是

add_service_files(
  FILES
  AddTwoInts.srv
)

之后我们可以用rossrv检测我们创建的srv文件

rossrv show <service type>
rossrv show beginner_tutorials/AddTwoInts
rossrv show AddTwoInts

至此,我们已经将msg和srv的描述文件定义好了,也将相应的package.xml和CMakeLists.txt修改完毕.
在build/devel/src的上级目录进行make

# In your catkin workspace
$ roscd beginner_tutorials
$ cd ../..
$ catkin_make install
$ cd

make完毕后,生成的c++源码位于 ~/catkin_ws/devel/include/beginner_tutorials/

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/beginner_tutorials/. The Python script will be created in ~/catkin_ws/devel/lib/python2.7/dist-packages/beginner_tutorials/msg. The lisp file appears in ~/catkin_ws/devel/share/common-lisp/ros/beginner_tutorials/msg/.
Similarly, any .srv files in the srv directory will have generated code in supported languages. For C++, this will generate header files in the same directory as the message header files. For Python and Lisp, there will be an ‘srv’ folder beside the ‘msg’ folders.

完整的CMakeLists.txt如下

cmake_minimum_required(VERSION 2.8.3)
project(beginner_tutorials)

## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  message_generation
)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)


## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
add_message_files(
   FILES
   #Message1.msg
   #Message2.msg
   Num.msg
 )

## Generate services in the 'srv' folder
 add_service_files(
   FILES
#   Service1.srv
#   Service2.srv
   AddTwoInts.srv
 )

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

## Generate added messages and services with any dependencies listed here
generate_messages(
   DEPENDENCIES
   std_msgs
 )

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
   INCLUDE_DIRS include
   LIBRARIES beginner_tutorials
   CATKIN_DEPENDS roscpp rospy std_msgs message_runtime
   DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
  ${catkin_INCLUDE_DIRS}
)

## Declare a C++ library
# add_library(${PROJECT_NAME}
#   src/${PROJECT_NAME}/beginner_tutorials.cpp
# )

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/beginner_tutorials_node.cpp)

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
#   ${catkin_LIBRARIES}
# )

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables and/or libraries for installation
# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_beginner_tutorials.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)