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

)

Creating a ROS msg and srv

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.

Creating a ROS msg and srv

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/

Creating a ROS msg and srv

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.

Creating a ROS msg and srv

Creating a ROS msg and srv

注意冒号后面的空格

Creating a ROS msg and srv

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

秒客网

Creating a ROS msg and srv

创建一个msg文件并生成相应源码

创建一个srv文件并生成相应源码

update:20190408

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