一般我们自定义ROS消息使用ros_msgs来定义的，但是考虑到proto在传输消息优于ros自定义的消息格式，我们这里使用proto来定义ros消息 问题来源：之前看apollo的代码，就发现里面的消息使用proto来传输的，那我们我们自己用如何定义和使用呢，主要参考代码https://github.com/ApolloAuto/apollo-platform仓库里面的ros下面的pb_msgs里面的代码 下面的内容也都是里面的代码粘贴复制，感兴趣的直接看源代码就可以
1.生成自定义的proto_msg
https://github.com/ApolloAuto/apollo-platform/blob/master/ros/pb_msgs
1.1 代码结构
1.2 代码
1.2.1 msg
__init__.py
import pkgutil
__path__
= pkgutil
.extend_path
(__path__
, "modules")
for importer
, modname
, ispkg
in pkgutil
.walk_packages
(path
=__path__
, prefix
=__name__
+'.'):
if modname
.endswith
("pb2"):
try:
exec("from %s import *" % modname
)
except:
pass
1.2.2 proto
time.proto
syntax
= "proto2";
package pb_msgs
;
message Time
{
required int64 sec
= 1;
required int64 nsec
= 2;
}
1.2.3 src/pb_msgs
__init__.py
1.2.4 CMakeLists.txt
cmake_minimum_required(VERSION 2.8.3)
project(pb_msgs)
find_package(catkin REQUIRED COMPONENTS genmsg gencpp genpy)
add_proto_files(
DIRECTORY proto
FILES
time.proto
)
generate_messages()
catkin_package(
LIBRARIES pb_msgs_proto
DEPENDS genmsg gencpp genpy
)
if(NOT EXISTS msg)
file(MAKE_DIRECTORY msg)
endif()
install(DIRECTORY proto msg
DESTINATION $
{CATKIN_PACKAGE_SHARE_DESTINATION
})
1.2.4 package.xml
<package>
<name>pb_msgs
</name>
<version>1.0.0
</version>
<description>
Protobuf messages for adu common proto.
</description>
<maintainer email="info@apollo.auto">Apollo Authors
</maintainer>
<license>BSD
</license>
<buildtool_depend>catkin
</buildtool_depend>
<build_depend>roscpp
</build_depend>
<build_depend>gencpp
</build_depend>
<build_depend>genmsg
</build_depend>
<build_depend>genpy
</build_depend>
<run_depend>roscpp
</run_depend>
<run_depend>gencpp
</run_depend>
<run_depend>genmsg
</run_depend>
<run_depend>genpy
</run_depend>
</package>
1.2.5 setup.py
from distutils
.core
import setup
from catkin_pkg
.python_setup
import generate_distutils_setup
d
= generate_distutils_setup
(
packages
=['pb_msgs'],
package_dir
={'': 'src'},
)
setup
(**d
)
