msg文件一般存放在package下msg文件夹下,其数据类型可以是: int8, int16, int32, int64 (unit*) float32, float64 string time, duration 其他msg文件 可变数组array[]和固定长度数组array[C] 二、如何使用自定义消息? Step1定义msg文件,每一个消息占一行,类型+消息名(一般放在与功能包中的include同级文件夹m...
c_str()); publisher_->publish(message); } rclcpp::TimerBase::SharedPtr timer_; rclcpp::Publisher<tutorial_interfaces::msg::ArrayMessage>::SharedPtr publisher_; }; int main(int argc, char * argv[]) { rclcpp::init(argc, argv); rclcpp::spin(std::make_shared<ArrayPublishe...
完成定义后,还需要在功能包的CMakeLists.txt中配置编译选项,让编译器在编译过程中,根据接口定义,自动生成不同语言的代码: ...find_package(rosidl_default_generators REQUIRED)rosidl_generate_interfaces(${PROJECT_NAME}"msg/ObjectPosition.msg")... 程序调用 ...
Messages: action_msgs/msg/GoalInfo action_msgs/msg/GoalStatus action_msgs/msg/GoalStatusArray actionlib_msgs/msg/GoalID actionlib_msgs/msg/GoalStatus actionlib_msgs/msg/GoalStatusArra geometry_msgs/msg/Accel geometry_msgs/msg/AccelStamped geometry_msgs/msg/AccelWithCovariance geometry_msgs/msg/AccelWi...
from learning_interface.msg import ObjectPosition # 自定义的目标位置消息 lower_red = np.array([0, 90, 128]) # 红色的HSV阈值下限 upper_red = np.array([180, 255, 255]) # 红色的HSV阈值上限 """ 创建一个订阅者节点 """ class ImageSubscriber(Node): ...
std_msgs/msg/UInt32 1. 2. 李四所在的李家村是ament_python编译类型,使用的是Python语言,而王二所在的村庄的编译类型是ament_cmake,使用的是C++语言。不同语言对字符串的定义是不同的,而通过接口可以抹平这种语言差异。 使用接口对做机器人有什么好处呢?
msgList cell array of character vectors List of all message types available in MATLAB, returned as a cell array of character vectors. msgInfo character vector Details of the information inside the ROS message definition, returned as a character vector. ...
ros2msglist action_msgs/CancelGoalRequest action_msgs/CancelGoalResponse action_msgs/GoalInfo action_msgs/GoalStatus action_msgs/GoalStatusArray actionlib_msgs/GoalID actionlib_msgs/GoalStatus actionlib_msgs/GoalStatusArray builtin_interfaces/Duration builtin_interfaces/Time composition_interfaces/ListNodesRe...
other msg files variable-length array[], fixed-length array[C], bounded-length array[<=C] Here is an example of a msg that uses a string primitive, and two other msgs: 这是一个使用字符串和另外两个消息的msg示例: string child_frame_id ...
actionlib_msgs/msg/GoalStatusArray bond/msg/Constants bond/msg/Status builtin_interfaces/msg/Duration builtin_interfaces/msg/Time cartographer_ros_msgs/msg/LandmarkEntry cartographer_ros_msgs/msg/LandmarkList cartographer_ros_msgs/msg/SensorTopics ...