Creating a ROS msg and srv
- 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)
update:20190408
自定义格式消息.在终端通过rostopic发送.
注意冒号后面的空格
Header的定义 http://docs.ros.org/melodic/api/std_msgs/html/msg/Header.html
cmdline语法格式 http://wiki.ros.org/ROS/YAMLCommandLine
原文地址:https://www.cnblogs.com/sdu20112013/p/10577674.html
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