Dong
ROS C++编程 msg srv
2025-08-16
ROS
00
ros c++编程ros msgros srvcatkin编译自定义消息类型

目录

创建gps消息
创建srv消息
写节点
js
展开代码
docker run \
-e QT_X11_NO_MITSHM=1 \
-e DISPLAY \
-v ~/.Xauthority:/root/.Xauthority:rw \
-v ~/tmp/.X11-unix:/tmp/.X11-unix:ro \
--net host \
--gpus all \
-v ~/out_home:/out_home \
-v /data/xiedong/xd_ws:/xd_ws \
-it kevinchina/deeplearning:ros-noetic-cuda11.4.2-v5 bash

js
展开代码
vim /etc/ssh/sshd_config
service ssh restart

vim ~/.ssh/authorized_keys
chmod 600 ~/.ssh/authorized_keys

创建gps消息

https://sychaichangkun.gitbooks.io/ros-tutorial-icourse163/content/chapter6/6.3.html

js
展开代码
source devel/setup.bash   # 使环境变量生效

# 创建包
cd src
catkin_create_pkg topic_demo roscpp rospy std_msgs

# 创建msg文件夹
mkdir topic_demo/msg/

topic_demo/msg/gps.msg 写入：

js
展开代码
string state   #工作状态
float32 x      #x坐标
float32 y      #y坐标

当你创建完了msg文件，记得修改CMakeLists.txt和package.xml，从而让系统能够编译自定义消息。

CMakeLists.txt

bash
展开代码
cmake_minimum_required(VERSION 2.8.3)
project(topic_demo)

find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  message_generation
)

add_message_files(
  FILES
  gps.msg
)

# add_service_files(
#   FILES
#   AddTwoInts.srv
# )

generate_messages(
  DEPENDENCIES
  std_msgs
)

catkin_package(
  CATKIN_DEPENDS message_runtime roscpp rospy std_msgs
)

include_directories(
  include
  ${catkin_INCLUDE_DIRS}
)

package.xml

bash
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<?xml version="1.0"?>
<package format="2">
  <name>topic_demo</name>
  <version>0.0.0</version>
  <description>The topic_demo package</description>

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


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


  <!-- Author tags are optional, multiple are allowed, one per tag -->
  <!-- Authors do not have to be maintainers, 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 depend as a shortcut for packages that are both build and exec dependencies -->
  <!--   <depend>roscpp</depend> -->
  <!--   Note that this is equivalent to the following: -->
  <!--   <build_depend>roscpp</build_depend> -->
  <!--   <exec_depend>roscpp</exec_depend> -->
  <!-- Use build_depend for packages you need at compile time: -->
  <!--   <build_depend>message_generation</build_depend> -->
  <!-- Use build_export_depend for packages you need in order to build against this package: -->
  <!--   <build_export_depend>message_generation</build_export_depend> -->
  <!-- Use buildtool_depend for build tool packages: -->
  <!--   <buildtool_depend>catkin</buildtool_depend> -->
  <!-- Use exec_depend for packages you need at runtime: -->
  <!--   <exec_depend>message_runtime</exec_depend> -->
  <!-- Use test_depend for packages you need only for testing: -->
  <!--   <test_depend>gtest</test_depend> -->
  <!-- Use doc_depend for packages you need only for building documentation: -->
  <!--   <doc_depend>doxygen</doc_depend> -->
  <buildtool_depend>catkin</buildtool_depend>
  <build_depend>roscpp</build_depend>
  <build_depend>rospy</build_depend>
  <build_depend>std_msgs</build_depend>
  <build_export_depend>roscpp</build_export_depend>
  <build_export_depend>rospy</build_export_depend>
  <build_export_depend>std_msgs</build_export_depend>
  <exec_depend>roscpp</exec_depend>
  <exec_depend>rospy</exec_depend>
  <exec_depend>std_msgs</exec_depend>
  
  <build_depend>message_generation</build_depend>
  <exec_depend>message_runtime</exec_depend>

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

  </export>
</package>

当你完成了以上所有工作，就可以回到工作空间，然后编译了。编译完成之后会在devel路径下生成gps.msg对应的头文件，头文件按照C++的语法规则定义了topic_demo::gps类型的数据。

make后

image.png

要在代码中使用自定义消息类型，只要#include <topic_demo/gps.h>，然后声明，按照对结构体操作的方式修改内容即可。

创建srv消息

bash
展开代码
mkdir srv
roscp rospy_tutorials AddTwoInts.srv srv/AddTwoInts.srv

bash
展开代码
root@euler-MS-7D30:/xd_ws/src/topic_demo# ll
total 32
drwxr-xr-x 6 root root 4096 Aug 16 09:06 ./
drwxr-xr-x 3 root root 4096 Aug 16 09:06 ../
-rw-r--r-- 1 root root  426 Aug 16 09:03 CMakeLists.txt
drwxr-xr-x 3 root root 4096 Aug 16 09:01 include/
drwxr-xr-x 2 root root 4096 Aug 16 09:02 msg/
-rw-r--r-- 1 root root 2966 Aug 16 09:02 package.xml
drwxr-xr-x 2 root root 4096 Aug 16 09:01 src/
drwxr-xr-x 2 root root 4096 Aug 16 09:06 srv/
root@euler-MS-7D30:/xd_ws/src/topic_demo# roscp rospy_tutorials AddTwoInts.srv srv/AddTwoInts.srv

bash
展开代码
cmake_minimum_required(VERSION 2.8.3)
project(topic_demo)

find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  message_generation
)

add_message_files(
  FILES
  gps.msg
)

add_service_files(
  FILES
  AddTwoInts.srv
)

generate_messages(
  DEPENDENCIES
  std_msgs
)

catkin_package(
  CATKIN_DEPENDS message_runtime roscpp rospy std_msgs
)

include_directories(
  include
  ${catkin_INCLUDE_DIRS}
)

写节点

bash
展开代码
add_executable(talker src/talker.cpp)
target_link_libraries(talker ${catkin_LIBRARIES})
add_dependencies(talker ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

add_executable(listener src/listener.cpp)
target_link_libraries(listener ${catkin_LIBRARIES})
add_dependencies(listener ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

add_executable(add_two_ints_server src/add_two_ints_server.cpp)
target_link_libraries(add_two_ints_server ${catkin_LIBRARIES})
add_dependencies(add_two_ints_server ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

add_executable(add_two_ints_client src/add_two_ints_client.cpp)
target_link_libraries(add_two_ints_client ${catkin_LIBRARIES})
add_dependencies(add_two_ints_client ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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本文作者:Dong

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