ROS中python使用自己定义的消息

1.先在beginner_tutorial这个包中定义好需要的信息

文件里的内容

2.然后返回根文件夹catkin_make,在相应文件夹生成了相应的消息py文件

3.py脚本

#!/usr/bin/env python
#coding=utf-8

#import roslib;roslib.load_manifest('beginner_tutorials')  
import rospy
from beginner_tutorials.msg import Order

def talker():
    pub = rospy.Publisher('chatter', Order, queue_size = 10)
    rospy.init_node('talker', anonymous = True)
    rate = rospy.Rate(10)
    while not rospy.is_shutdown():
        str = "snake"
        msg = Order()
        msg.order = str
        rospy.loginfo(str)
        pub.publish(msg)
        rate.sleep()

if __name__ == '__main__':
    try:
        talker()
    except rospy.ROSInterruptException:
        pass

另外，如果pycharm一直提示no module named rospy，就按这里操作：https://www.jianshu.com/p/f1374bc008cb