ros2自己创建message

0.前言

• ros2查看message信息的命令是ros2 interface show yourmessage，查看服务也类似

1.流程

• ros2 pkg create --build-type ament_cmake tutorial_interfaces
• cd tutorial_interfaces
• mkdir msg
• cd msg
• vim xx.msg，内容

geometry_msgs/Point point

• 在CMakeLists.txt添加

find_package(geometry_msgs REQUIRED)
find_package(rosidl_default_generators REQUIRED)
rosidl_generate_interfaces(xx
  "msg/xx.msg"
  DEPENDENCIES builtin_interfaces geometry_msgs
)

• 在package.xml添加

geometry_msgs
rosidl_default_generators
  rosidl_default_runtime
  rosidl_interface_packages

• cd …/…/…
• colcon build --packages-select tutorial_interfaces
• source install/setup.bash
• ros2 interface show tutorial_interfaces/msg/xx

9.注意事项

• 1.CMakeLists.txt中rosidl_generate_interfaces缺少DEPENDENCIES会报错：fatal error: geometry_msgs/msg/detail/point__struct.hpp: No such file or directory