Step4修改CMakeLists.txt,增加message运行时依赖模块(message_runtime): catkin_package语句增加CATKIN_DEPENDS message_runtime catkin_package( ... CATKIN_DEPENDS message_runtime ... ...) 1. 2. 3. 4. Step5修改CMakeLists.txt,增加message文件: add_message_files语句增加自定义的msg文件 add_message_f...
<build_depend>message_generation</build_depend> #动态产生message <exec_depend>message_runtime</exec_depend> #运行依赖 1. 2. 在CMakeLists.txt添加编译选项 message_generation #在find_package()中添加 add_message_files(FILES Person.msg) #将msg文件加入编译 generate_messages(DEPENDENCIES std_msgs)#依...
message_generation # Add message_generation here, after the other packages ) add_message_files() add_message_files( FILES Age.msg ) # Dont Forget to UNCOMENT theparenthesisand add_message_files TOO generate_messages() generate_messages( DEPENDENCIES std_msgs ) # Dont Forget to uncoment here ...
rosidl_generate_interfaces(${PROJECT_NAME}${msg_files}) 还要确保导出消息运行时的依赖项: ament_export_dependencies(rosidl_default_runtime) 2.2设置多个接口 可以使用set整洁的来列出所有的接口: set(msg_files"msg/Message1.msg""msg/Message2.msg"# etc)set(srv_files"srv/Service1.srv""srv/Service2....
add_message_file( FILES ** DetectHuman.srv ** ** HumanPose.msg ** ** JointPos.msg **) ** generate_messages(DEPENDENCIES std_msgs) ** 添加的这些内容指定了srv或者msg在编译或者运行中需要的依赖。具体的作用我们初学者可不深究,我们需要了解的是,无论我们自定义了srv,还是msg,修改上述部分添加依赖...
srv: an srv file describes a service. It is composed of two parts: a request and a response. The request and response are message declarations. srv:srv文件描述服务。它由两部分组成:请求和响应。请求和响应是消息声明。 msgs are just simple text files with a field type and field name per lin...
auto message = std::make_shared<std_msgs::msg::Float64MultiArray>(); message->layout.dim.push_back(std_msgs::msg::MultiArrayDimension()); message->layout.dim[0].size =2; message->layout.dim[0].stride =3; message->layout.dim[0].label ="rows"; ...
find_package(message_filters REQUIRED) find_package(nav2_common REQUIRED) find_package(nav2_msgs REQUIRED) find_package(nav2_util REQUIRED) find_package(nav2_voxel_grid REQUIRED) find_package(nav_msgs REQUIRED) find_package(pluginlib REQUIRED) ...
add_message_files(FILES,depth.msg) generate_messages(DEPENDENCIES std_msgs) catkin_package() include_directories(include ${catkin_INCLUDE_DIRS}) catkin_install_python(PROGRAMS src/depth_publisher.py DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ...
Specify the folder path for custom message files and useros2genmsgto create custom messages. ros2genmsg(folderPath) Identifying message files in folder 'C:/Work/custom'.Done. Removing previous version of Python virtual environment.Done. Creating a Python virtual environment.Done. Adding required Pyt...