Ros自定义消息及使用
2024-04-22 16:48:28
Ros中怎么自定义消息参考先前的博客，在这里主要介绍怎么在同一个包下或者不同包之间进行消息调用。
１、同一个包下调用自定义消息包
（１）同一个包下调用msg是指在当前包下(如autoware_msgs)建立了ｍｓｇ文件夹，并且在当前包的ｄｅｖｅｌ下生成了相应的消息定义头文件。在src文件中调用时只需要包含头文件，就可以以类的形式进行使用。
#include"autoware_msgs/DetectedObjectArray.h"
void chatterCallback(const autoware_msgs::DetectedObjectArray &msg)｛
//..........
｝
2、同一个工作空间下调用消息包
例如要让ob_reader包调用autoware_msgs包的消息。
（１）修改ob_reader的package.xml文件
＃加入下列两行
<build_depend>autoware_msgs</build_depend>
<exec_depend>autoware_msgs</exec_depend>
（２）修改ob_reader的ＣmakeList文件
find_package(catkin REQUIRED COMPONENTSautoware_msgs
)
include_directories(include ${catkin_INCLUDE_DIRS})
整体cmakelist文件如下，做参考
cmake_minimum_required(VERSION 3.0.2)
project(ob_reader)## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTSgeometry_msgsroscpprospysensor_msgsstd_msgsautoware_msgs
)
include_directories(include ${catkin_INCLUDE_DIRS})
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()################################################
## Declare ROS messages, services and actions ##
################################################## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg#)## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# geometry_msgs sensor_msgs std_msgs
# )################################################
## Declare ROS dynamic reconfigure parameters ##
################################################## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
# catkin_package(
# # INCLUDE_DIRS include
# # LIBRARIES ob_reader
# CATKIN_DEPENDS geometry_msgs roscpp rospy sensor_msgs std_msgs message_runtime
# # DEPENDS system_lib
# )###########
## Build ##
############# Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(
# include
# ${catkin_INCLUDE_DIRS}
# )## Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/ob_reader.cpp
# )## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/ob_reader_node.cpp)## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
# ${catkin_LIBRARIES}
# )add_executable(ob_reader1 src/reader.cpp)target_link_libraries(ob_reader1 ${catkin_LIBRARIES})add_dependencies(ob_reader1 ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
#############
## Install ##
############## all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# catkin_install_python(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )#############
## Testing ##
############### Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_ob_reader.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()## Add folders to be run by python nosetests
# catkin_add_nosetests(test)Ros自定义消息及使用相关推荐
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