如何自定义话题消息
- 定义msg文件;
- 在package.xml中添加功能包依赖;
<build_depend>message_generation</build_depend>
<exec_depend>message_runtime</exec_depend>
- 在CMakeList.txt添加编译选项;
find_package(...... message_generation)
add_message_files(FILES Person.msg)
generate_messages(DEPENDENCIES std_msgs)
catkin_package(...... message_runtime)
- 编译生成语言相关文件;
在文件路径src路径下添加完publisher 和 subscriber cpp文件后
在CMakeList.txt中配置编译规则
add_executable(person_publisher src/person_publisher.cpp)
target_link_libraries(person_publisher ${catkin_LIBRARIES})
add_dependencies(person_publisher ${PROJECT_NAME}_generate_messages_cpp)
add_executable(person_subscriber src/person_subscriber.cpp)
target_link_libraries(person_subscriber ${catkin_LIBRARIES})
add_dependencies(person_subscriber ${PROJECT_NAME}_generate_messages_cpp)