Custom msg for diference package

rosmsg

asked 2011-07-06 20:06:49 -0600

embeddedheaven
121 ●9 ●10 ●19

Hello,

I am doing the communication between two computer, and I use 2 difference package name.

How can I create and general and custom msg to comunicate between 2 node.

For Example in Package A, I create msg.

Position.msg

float64 x
float64 y
float64 x

and the msg type will be A/Position

and in Package B, I create msg.

Position.msg

float64 x
float64 y
float64 x

and the msg type will be B/Position

:( Thanks all

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Comments

If you want the message like the ones you defined, geometry_msgs/Point already does that.

dornhege ( 2011-07-06 22:16:48 -0600 )edit

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7

answered 2011-07-06 20:36:11 -0600

Lorenz

22731 ●129 ●202 ●316 http://ias.in.tum.de/p...

I assume that you have all packages in one single repository and both computers have it checked out. Then the following should work: B could either use A's message definition or A could use B's message definition. However, it is pretty common in ROS to create a separate package C that only contains the message and no code. All you need to do is to create that package C, put the message file into the msg/ sub-directory and update your CMakeLists.txt to build that message. Then edit A's manifest and let it depend on C, edit B's manifest respectively. In A and B, instead of including A/Position.h or B/Position.h, include C/Position.h.