【ROS】msg&srv

• rosmake = ros+make : makes (compiles) a ROS package (if you’re not using a catkin workspace)

• catkin_make + catkin_make_isolated

概览

• msg: 简单的文本文件, 描述了ROS消息字段, 用于生成不同语言的消息源码
  • 位于包的msg目录

  Header header
  string child_frame_id
  geometry_msgs/PoseWithCovariance pose
  geometry_msgs/TwistWithCovariance twist
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• srv: 描述一个服务, 包括请求和回复
  • 位于包的srv目录
  • 类似msg文件, 含2部分: 请求和回复, —分隔

  int64 A
  int64 B
  ---
  int64 Sum
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msg

• 创建msg

roscd beginner_tutorials
$ mkdir msg
$ echo "int64 num" > msg/Num.msg
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补充
package.xml

  <build_depend>message_generationbuild_depend>
  <exec_depend>message_runtimeexec_depend>
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CMakeList.txt

find_package(catkin REQUIRED COMPONENTS
   roscpp
   rospy
   std_msgs
   message_generation
)
catkin_package(
  ...
  CATKIN_DEPENDS message_runtime ...
  ...)
add_message_files(
  FILES
  Num.msg
)
generate_messages(
  DEPENDENCIES
  std_msgs
)
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rosmsg

• rosmsg show [message type]
  • rosmsg show beginner_tutorials/Num
  • rosmsg show Num
  • list : List all messages
  • md5 : Display message md5num
  • package : List messages in a package
  • packages : List messages that contain messages

srv

• roscp [package_name] [file_to_copy_path] [copy_path] : 复制

roscd beginner_tutorials
mkdir srv
roscp rospy_tutorials AddTwoInts.srv srv/AddTwoInts.srv
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补充
package.xml

  <build_depend>message_generationbuild_depend>
  <exec_depend>message_runtimeexec_depend>
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CMakeList.txt

find_package(catkin REQUIRED COMPONENTS
   roscpp
   rospy
   std_msgs
   message_generation
)
add_service_files(
  FILES
  AddTwoInts.srv
)
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rossrv

• rossrv show [service type]
  • rossrv show beginner_tutorials/AddTwoInts

catkin_make
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