RoboRally/docs/notes/notes_ros_messages.txt
2019-08-12 12:24:07 +02:00

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