ROS custom message

1. 패키지 및 작업 폴더 생성 2. 메시지 형식 정의 3. 구성 파일 변경 4. 커스텀 메시지를 불러온 Publisher, Subscriber 작성 5. launch 파일 생성 6. 노드 실행 7. 참고

1. 패키지 및 작업 폴더 생성


cd ~/${workspack_name}/src # cd ~/ros_ws/src
catkin_create_pkg ${package_name} rospy std_msgs # catkin_create_pkg custom_message rospy std_msgs
cd ../ && catkin_make
rospack find ${package_name} # rospack find custom_message
cd src/${package_name} # cd src/custom_message
mkdir msg
mkdir launch

2. 메시지 형식 정의

cd msg로 폴더를 이동한 뒤, vi person.msg 파일을 만들고 아래의 내용을 작성한다.


string first_name
string last_name
uint8 age
uint32 score

rosmsg show person으로 메시지가 등록되었는지 확인한다

3. 구성 파일 변경

cd ../로 패키지 경로로 이동한다

package.xml에 다음의 내용을 추가한다


<build_depend>message_generation</build_depend>
<exec_depend>message_runtime</exec_depend>

CMakeLists.txt 파일을 다음을 참고하여 수정한다

전체 파일


cmake_minimum_required(VERSION 3.0.2)
project(custom_message)

## 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 COMPONENTS
  roscpp
  rospy
  std_msgs
  message_generation
)

## 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
  person.msg
  # 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
  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(
 CATKIN_DEPENDS message_runtime
#  INCLUDE_DIRS include
#  LIBRARIES msg_send
#  CATKIN_DEPENDS rospy std_msgs
#  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}/custom_message.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/custom_message_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}
# )

#############
## 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_custom_message.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)


find_package(catkin REQUIRED COMPONENTS
  roscpp
+ rospy
  std_msgs
+ message_generation
)

+add_message_files(
  FILES
  person.msg
  # Message1.msg
  # Message2.msg
+)

+generate_messages(
+ DEPENDENCIES
+ std_msgs
+)

catkin_package(
+ CATKIN_DEPENDS message_runtime
#  INCLUDE_DIRS include
#  LIBRARIES msg_send
#  CATKIN_DEPENDS rospy std_msgs
#  DEPENDS system_lib
)

cd ../ && catkin_make로 패키지가 제대로 빌드되는지 확인한다

4. 커스텀 메시지를 불러온 Publisher, Subscriber 작성

src에 publisher.py을 만들고 아래의 내용을 작성한다


#!/usr/bin/env python
# license removed for brevity
import rospy
from custom_message.msg import person

def talker():
    pub = rospy.Publisher('chatter', person, queue_size=10)
    rospy.init_node('talker', anonymous=True)
    rate = rospy.Rate(10) # 10hz

    msg = person()
    msg.first_name = "gildon"
    msg.last_name = "Hong"
    msg.age = 24
    msg.score = 95

    while not rospy.is_shutdown():
        rospy.loginfo(msg)
        pub.publish(msg)
        rate.sleep()

if __name__ == '__main__':
    try:
        talker()
    except rospy.ROSInterruptException:
        pass

src에 subscriber.py을 만들고 아래의 내용을 작성한다


#!/usr/bin/env python
import rospy
from custom_message.msg import person

def callback(msg):
    print ("1. Name: ", msg.last_name + msg.first_name)
    print ("2. Age: ", msg.age)
    print ("3. Score: " , msg.score)
    
def listener():

    # In ROS, nodes are uniquely named. If two nodes with the same
    # name are launched, the previous one is kicked off. The
    # anonymous=True flag means that rospy will choose a unique
    # name for our 'listener' node so that multiple listeners can
    # run simultaneously.
    rospy.init_node('listener', anonymous=True)

    rospy.Subscriber("chatter", person, callback)

    # spin() simply keeps python from exiting until this node is stopped
    rospy.spin()

if __name__ == '__main__':
    listener()

파일을 실행할 수 있도록, chmod +x *.py로 명령어를 실행한다

5. launch 파일 생성

launch 폴더에 communication.launch 파일을 생성한 뒤, 아래의 내용을 작성한다


<launch>
	<node pkg="custom_message" type="publisher.py" name="publisher"/>
	<node pkg="custom_message" type="subscriber.py" name="subscriber" output="screen"/>
</launch>

6. 노드 실행

roslaunch custom_message communication.launch로 노드를 실행해본다

7. 참고

ROS/Tutorials/CreatingMsgAndSrv - ROS Wiki

http://wiki.ros.org/ROS/Tutorials/CreatingMsgAndSrv#Creating_a_msg

ros_ws/src/custom_message at master · SwimingKim/ros_ws

Contribute to SwimingKim/ros_ws development by creating an account on GitHub.

https://github.com/SwimingKim/ros_ws/tree/master/src/custom_message