ROS学习手记 - 7 创建ROS msg & srv
至此,我们初步学习了ROS的基本工具,接下来一步步理解ROS的各个工作部件的创建和工作原理。 本文的详细文档:http://wenku.baidu.com/view/623f41b3376baf1ffd4fad7a Creating a ROS msg and srv This tutorial covers how to create and build msg and srv files as well as therosmsg, rossrv and roscp commandline tools. 1. msg & srv 文件介绍 msg 文件 就是用来让不同语言能产生message的一个指导性文本文件。 srv file describes a service. It is composed of two parts: a request and a response. 2. msg & srv 文件存储位置: <workspace>/packagename/msg/ & <workspace>/packagename/srv/ ==== msg file 说明 ==== 3. msgfile 的格式和生成 生成: $ cd ~/catkin_ws/src/beginner_tutorials
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