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For creating a msg file,create a folder "msg" in ur package directory. In directory create msg file name.msg with following content:

 int32[] l 
 int32[] d
 int32[] r
 int32[] u

Also make changes in CMakelist.txt for compiling msg files. If u ur not sure of vector size u can just declare a variable of message type and publish it without assigning them a value.

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