ROS learning notes (5) -- Exploration of customized messages

This blog is mainly used for pit drainage

1. The data type defined by the message

Be sure to add the number of data digits when defining , Such as float type Should be written as float32

2. The same message can be used in multiple function packs , There's no need to redefine

example ： stay A Function package call B Messages in the Feature Pack
1. modify A The feature pack package.xml

# Add the following statement
<build_depend>b_package</build_depend>
<build_export_depend>b_package</build_export_depend>
<exec_depend>b_package</exec_depend>

2. modify A The feature pack CmakeList.txt

# modify find_packge
find_package(catkin REQUIRED … b_package)
# Uncomment the following statement
include_directories(
include
${catkin_INCLUDE_DIRS}
)

3. compile B Function pack

catkin_make -DCATKIN_WHITELIST_PACKAGES='b_package'

4. Global compilation

catkin_make -DCATKIN_WHITELIST_PACKAGES=''

After the above steps , You can go to A The corresponding message file is introduced into the function package

#include "b_package/xxx.msg"

• See my blog for the detailed process of adding message files
  ROS Learning notes (1)—ROS Installation and basic usage of