ros2 自定义消息msg 和 srv文件编译问题“is a invalid message name it should have the pattern ‘^[A-Z][A-Za-z0-9]”

出现这个问题就是说你起的那个文件名称格式有问题，比如说mymsg.msg就会有故障

应该改写为Mymsg.msg.这可能是个正则表达式表示一定要以大写字母开头^[A-Z]

下面提供一个可以正确执行的代码参考：

cmake_minimum_required(VERSION 3.8)
project(custom_srv)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(rosidl_default_generators REQUIRED)

rosidl_generate_interfaces(${PROJECT_NAME}
  "msg/Mymsg1.msg"
  "msg/Mymsg2.msg"
  "srv/Myservice1.srv"
  DEPENDENCIES geometry_msgs
)

# uncomment the following section in order to fill in
# further dependencies manually.
# find_package( REQUIRED)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()

  custom_srv
  0.0.0
  TODO: Package description
  actorsun
  TODO: License declaration
  ament_cmake
  ament_lint_auto
  ament_lint_common

  geometry_msgs
  rosidl_default_generators
  rosidl_default_runtime
  rosidl_interface_packages  

  
    ament_cmake
  

Mymsg1.msg文件

int64 num

Mymsg2.msg文件

geometry_msgs/Point center
float64 radius

Mysrv1.srv文件

int64 a
int64 b
int64 c
---
int64 sum

可以参考这个ros2 自定义msg_ros2 自定义message-CSDN博客