ROS之自定义msg

一、

配置步骤，建立文件过程参考古月居的书，修改xml文件和CMakeList文件参考下面链接。注意不使用 <run_depend>message_runtime</run_depend>，而是使用<exec_depend> message_runtime </exec_depend>，CMakeList文件中取消注释即可。

在ROS中定义并使用自己的消息类型

二、自定义的msg如何使用

发布订阅-ROS自定义消息类型

把msg类的各个参数设好，然后一句     pub.publish(msg);   就OK了
1.新建一个ros功能包
$cd ~/catkin_ws/src/
$catkin_create_pkg auto_charge_pub  roscpp std_msgs message_generation

编辑package.xml：
添加：
<build_depend>message_generation</build_depend>

<run_depend>message_runtime</run_depend>    

编辑CMakeLists.txt：
添加：
catkin_package(
  ...
  CATKIN_DEPENDS message_runtime ...
  ...)

add_message_files(
  FILES
  AutoChargeMsg.msg
)

generate_messages(
   DEPENDENCIES
   std_msgs
)

2.新建msg消息   
$cd catkin_ws/src/auto_charge_pub
$mkdir msg
在新建的msg文件夹中新建AutoChargeMsg.msg,文件中填入：
int32 A
int32 B
int32 C

3.创建发布和订阅节点源文件

4.功能包源码
（1）文件结构:  
CMakeLists.txt  include  msg  package.xml  src
(2)package.xml:
<?xml version="1.0"?>
<package>
  <name>auto_charge_pub</name>
  <version>0.0.0</version>
  <description>The auto_charge_pub package</description>
  <maintainer email="[email protected]">zhanghu</maintainer>
  <license>TODO</license>
   
  <buildtool_depend>catkin</buildtool_depend>
  <build_depend>message_generation</build_depend>
  <build_depend>roscpp</build_depend>
  <build_depend>std_msgs</build_depend>
  <run_depend>roscpp</run_depend>
  <run_depend>std_msgs</run_depend>

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

  <export>

  </export>
</package>

(3)CMakeLists.txt:
cmake_minimum_required(VERSION 2.8.3)
project(auto_charge_pub)

find_package(catkin REQUIRED COMPONENTS
  message_generation
  roscpp
  std_msgs
)
add_message_files(  
   FILES
   AutoChargeMsg.msg
 )
generate_messages(
   DEPENDENCIES
   std_msgs
 )
catkin_package(
  CATKIN_DEPENDS message_runtime roscpp std_msgs
)
include_directories(
  ${catkin_INCLUDE_DIRS}
)
add_executable(auto_charge_pub src/auto_charge_pub.cpp)
add_executable(auto_charge_sub src/auto_charge_sub.cpp)
target_link_libraries(auto_charge_pub ${catkin_LIBRARIES})
target_link_libraries(auto_charge_sub ${catkin_LIBRARIES})

(4)AutoChargeMsg.msg:
int32 A
int32 B
int32 C

(5)auto_charge_pub.cpp：
#include "ros/ros.h"
#include "auto_charge_pub/AutoChargeMsg.h"
#include <sstream>

int main(int argc, char **argv)
{
  ros::init(argc, argv, "example_charge_pub");
  ros::NodeHandle n;
  ros::Publisher pub = n.advertise<auto_charge_pub::AutoChargeMsg>("chargedata", 1000);
  ros::Rate loop_rate(10);
  while (ros::ok())
  {
    auto_charge_pub::AutoChargeMsg msg;
    msg.A = 1;
    msg.B = 2;
    msg.C = 3;
    pub.publish(msg);
    ros::spinOnce();
    loop_rate.sleep();
  }
  return 0;
}

(6)auto_charge_sub.cpp:
#include "ros/ros.h"
#include "auto_charge_pub/AutoChargeMsg.h"

void messageCallback(const auto_charge_pub::AutoChargeMsg::ConstPtr& msg)
{
  ROS_INFO("I heard: [%d] [%d] [%d]", msg->A, msg->B, msg->C);
}

int main(int argc, char **argv)
{
  ros::init(argc, argv, "example_charge_sub");
  ros::NodeHandle n;
  ros::Subscriber sub = n.subscribe("chargedata", 1000, messageCallback);
  ros::spin();
  return 0;
}

5.编译与运行
$cd ~/catkin_ws/
$catkin_make

$roscore
$rosrun auto_charge_pub auto_charge_pub
$rosrun auto_charge_pub auto_charge_sub

结果输出
[ INFO] [1496804922.698230235]: I heard: [1] [2] [3]
[ INFO] [1496804922.797224084]: I heard: [1] [2] [3]
[ INFO] [1496804922.896686623]: I heard: [1] [2] [3]
[ INFO] [1496804922.996713962]: I heard: [1] [2] [3]
[ INFO] [1496804923.107267357]: I heard: [1] [2] [3]
[ INFO] [1496804923.197747661]: I heard: [1] [2] [3]
[ INFO] [1496804923.296960871]: I heard: [1] [2] [3]
[ INFO] [1496804923.396757136]: I heard: [1] [2] [3]
[ INFO] [1496804923.496417082]: I heard: [1] [2] [3]
[ INFO] [1496804923.597160904]: I heard: [1] [2] [3]
[ INFO] [1496804923.705754664]: I heard: [1] [2] [3]
...

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在两个功能包里分别发布和订阅自定义msg，两个功能包都需要配置CMakeList文件和xml文件。

三、

ROS入门创建msg（消息）和svr（服务）遇到的问题

The manifest (with format version 2) must not contain the following tags: run_depend

的警告，这个的主要解决方法是使用catkin方式时在package.xml文件中将教程中添加的两行语句

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

要改成

<build_depend> message_generation </build_depend>

<exec_depend> message_runtime </exec_depend>

或者

<build_export_depend>message_generation</build_export_depend>
<exec_depend>message_runtime</exec_depend>

这样就得以解决问题

四、

Could not find messages which '/home/flying/catkin_ws/src/beginner_tutorials/msg/Num.msg' depends

问题：Could not find messages which
'/home/flying/catkin_ws/src/beginner_tutorials/msg/Num.msg' depends on.
Did you forget to specify generate_messages(DEPENDENCIES ...)?

解决

Num.msg

中的内容应该为

int64 num

如果有其他的出错先删除掉其他的只保留这个

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