ROS学习笔记（十二）——msg & svr

$ cd ~/catkin_ws/src/test　　#进入这个包

$ mkdir msg　　#创建一个msg文件夹

修改test包下的package.xml文档

<?xml version="1.0"?>
<package>
  <name>test</name>
  <version>0.0.0</version>
  <description>The test package</description>

  <!-- One maintainer tag required, multiple allowed, one person per tag -->
  <!-- Example:  -->
  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
  <maintainer email="gen@todo.todo">gen</maintainer>


  <!-- One license tag required, multiple allowed, one license per tag -->
  <!-- Commonly used license strings: -->
  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
  <license>BSD</license>


  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
  <!-- Optional attribute type can be: website, bugtracker, or repository -->
  <!-- Example: -->
  <!-- <url type="website">http://wiki.ros.org/test</url> -->


  <!-- Author tags are optional, mutiple are allowed, one per tag -->
  <!-- Authors do not have to be maintianers, but could be -->
  <!-- Example: -->
  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->


  <!-- The *_depend tags are used to specify dependencies -->
  <!-- Dependencies can be catkin packages or system dependencies -->
  <!-- Examples: -->
  <!-- Use build_depend for packages you need at compile time: -->
  <!--   <build_depend>message_generation</build_depend> -->
  <!-- Use buildtool_depend for build tool packages: -->
  <!--   <buildtool_depend>catkin</buildtool_depend> -->
  <!-- Use run_depend for packages you need at runtime: -->
  <!--   <run_depend>message_runtime</run_depend> -->
  <!-- Use test_depend for packages you need only for testing: -->
  <!--   <test_depend>gtest</test_depend> -->
  <buildtool_depend>catkin</buildtool_depend>
  <build_depend>roscpp</build_depend>
  <build_depend>rospy</build_depend>
  <build_depend>std_msgs</build_depend>
  <!-- add for msg -->
  <build_depend>message_generation</build_depend>    
  <run_depend>roscpp</run_depend>
  <run_depend>rospy</run_depend>
  <run_depend>std_msgs</run_depend>
  <!-- add for msg -->
  <run_depend>message_runtime</run_depend>

  <!-- The export tag contains other, unspecified, tags -->
  <export>
    <!-- Other tools can request additional information be placed here -->

  </export>
</package>

修改test包下的CMake_Lists.txt文档的以下部分，注意没有#在前面的部分

#利用find_packag函数，增加对message_generation的依赖

find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  message_generation
)
#添加msg文件

add_message_files(
   FILES
   Num.msg
 )
#添加消息生成依赖项

## Generate added messages and services with any dependencies listed here
 generate_messages(
   DEPENDENCIES
   std_msgs
 )
#添加运行依赖项

catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES test
   CATKIN_DEPENDS message_runtime roscpp rospy std_msgs
#  DEPENDS system_lib
)

$ cd ~/catkin_ws

$ source devel/setup.bash　　

$ catkin_make　　#编译上面写好的所有的内容

使用部分

$ rosmsg show Num

#关于服务

$ roscd test

$ roscp rospy_tutorials AddTwoInts.srv srv/AddTwoInts.srv　　#第二个名字不要写错了，那是复制过来以后srv文件的名字

如果前面做的到位，只修改test包下的CMake_Lists.txt文档的以下部分，注意没有#在前面的部分

 

add_service_files(
  FILES
  AddTwoInts.srv
)

 

 

$ cd ~/catkin_ws

 

$ source devel/setup.bash　　

$ catkin_make　　#是否需要重建没有实验出来，反正我重建了

$ rossrv show test/AddTwoInts　　#

所有在msg路径下的.msg文件都将转换为ROS所支持语言的源代码.

生成的C++头文件将会放置在~/catkin_ws/devel/include/test/.

Python脚本语言会在 ~/catkin_ws/devel/lib/python2.7/dist-packages/test/msg 目录下创建.

lisp文件会出现在 ~/catkin_ws/devel/share/common-lisp/ros/test/msg/ 路径下.