ros Custom Message Message Type

 

1. Create a package about the message in the workspace;

mkdir -p ~/catkin_ws/src
cd src
catkin_create_pkg msg_topic roscpp rospy std_msgs message_generation message_runtime
cd msg_topic 
mkdir msg // msg here to create a folder to save the file to the message here, otherwise it will not find the file

 2. Modify the message packet CMakeLists.txt file:

cmake_minimum_required(VERSION 2.8.3)
project(zx_msg_topic)


find_package(catkin REQUIRED COMPONENTS
  message_generation
  message_runtime
  roscpp
  rospy
  std_msgs
)
 add_message_files(
   FILES
   .Msg message file name
 )

 generate_messages(
   DEPENDENCIES
   std_msgs
 )
catkin_package(
#  INCLUDE_DIRS include
  News package name LIBRARIES msg_topic // created
  CATKIN_DEPENDS message_generation message_runtime roscpp rospy std_msgs
#  DEPENDS system_lib
)

include_directories(
# include
  ${catkin_INCLUDE_DIRS}
)

　　3. Modify package.xml file:

<exec_depend>message_generation</exec_depend>
<build_depend>message_runtime</build_depend>

　　4, run the following command to determine whether to create a successful message types

rosmsg show msg_topic / .msg message file name