Robot Operating System Cookbook

Creating ROS messages

In this section, we will learn how to create a user-defined custom message using the .msg file, which will be used in our nodes. This contains a specification about the type of data to be transmitted. The ROS build system will use this file to create the necessary code to implement the message in the ROS computational framework or network.

In the previous section, Creating nodes, we created two nodes with a standard type message. Now, we will learn how to create custom messages with ROS tools.

First, create a msg folder in the chapter2_tutorials package. Furthermore, create a new chapter2_msg.msg file there and add the following lines:

int32 A 
int32 B 
int32 C 

Furthermore, we will have to search for the following lines ...