57 lines
1.4 KiB
Plaintext
57 lines
1.4 KiB
Plaintext
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Creating ros package with catkin and adding custom messages:
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############################################################
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1. Create a workspace:
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----------------------
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$ mkdir catkin_ws
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$ cd catkin_ws
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$ mkdir src
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$ catkin_make
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$ source devel/setup.bash
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2. Create the package:
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----------------------
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$ cd catkin_ws/src
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$ catkin_create_pkg <package_name> std_msgs rospy roscpp
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$ cd ..
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$ catkin_make # this build the package
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3. Create the custom messages:
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------------------------------
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$ cd catkin_ws/src/<package_name>
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$ mkdir msg
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$ cd msg
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$ echo "int64 num" > Num.msg
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Then edit the package.xml file and add the following:
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<build_depend>message_generation</build_depend>
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<exec_depend>message_runtime</exec_depend>
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Also edit CMakeLists.txt and to the find_package() function add:
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message_generation
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and to the catkin_package() add:
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CATKIN_DEPENDS message_runtime
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Then, find add_message_files() (uncomment if necessary) and change it to the following:
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add_message_files(
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FILES
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Num.msg
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)
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Finally, uncomment the generate_messages() function such that it reads:
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generate_messages(
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DEPENDENCIES
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std_msgs
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)
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To build the new messages do the following:
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$ cd catkin_ws
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$ catkin_make # builds the new messages
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$ catkin_make install
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As the last step, source the setup.bash:
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$ . install/setup.bash
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Now the new messages should be available and you can find them with
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$ rosmsg list
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Don't forget to source the setup.bash everytime you want to use the messages!
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