1)在功能包下新建msg目錄，在msg目錄下新建Person.msg,在Person.msg文件寫入：

string name
uint16 age
float64 height

2)修改配置文件

? ? ? ? 2.1) 功能包下package.xml文件修改

  <build_depend>message_generation</build_depend><exec_depend>message_runtime</exec_depend><!-- exce_depend 以前對應的是 run_depend 現在非法-->

? ? ? ? 2.2）功能包下CMakeLists.txt 文件修改（4處）

find_package(catkin REQUIRED COMPONENTSroscpprospystd_msgsmessage_generation
)
# 需要加入 message_generation,必須有 std_msgs

## 配置 msg 源文件
add_message_files(FILESPerson.msg
)

# 生成消息時依賴于 std_msgs
generate_messages(DEPENDENCIESstd_msgs
)

#執行時依賴
catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES demo02_talker_listenerCATKIN_DEPENDS roscpp rospy std_msgs message_runtime
#  DEPENDS system_lib
)

3）編譯Ctrl+shift+B

查看Person.h的C++路徑和python路徑，后續調用相關msg時，是從這些中間文件中調用的

c_cpp_properties.json修改如下：

settings.json修改如下：

?

發布方的cpp和python源文件編寫如下：

#include "ros/ros.h"
#include "topic_com/Person.h"int main(int argc, char *argv[])
{setlocale(LC_ALL,"");ros::init(argc,argv,"talker");ros::NodeHandle nh;ros::Publisher pub = nh.advertise<topic_com::Person>("chatter",1000);topic_com::Person p;p.name ="wu";p.age =20;p.height =1.75;ros::Rate r(10);while(ros::ok()){pub.publish(p);ROS_INFO("發送數據%s %d %.2f",p.name.c_str(),p.age,p.height);p.age += 1;r.sleep();ros::spinOnce();}return 0;
}

?

#! /usr/bin/env pythonfrom topic_com.msg import Personimport rospyif __name__ == "__main__":rospy.init_node("talker_p")pub = rospy.Publisher("chatt",Person,queue_size=1000)p=Person()p.name="wu"p.age =20p.height =1.75rate = rospy.Rate(10)while not rospy.is_shutdown():pub.publish(p)  #發布消息rate.sleep()  #休眠rospy.loginfo("姓名:%s, 年齡:%d, 身高:%.2f",p.name, p.age, p.height)

訂閱方的cpp和python源文件編寫如下：

#include "ros/ros.h"
#include "topic_com/Person.h"
void doMsg(const topic_com::Person::ConstPtr& msg_p)
{ROS_INFO("I heard : %s %d %.2f",msg_p->name.c_str(),msg_p->age,msg_p->height);
}
int main(int argc, char *argv[])
{ros::init(argc,argv,"listener");ros::NodeHandle nh;ros::Subscriber sub = nh.subscribe<topic_com::Person>("chatter",1000,doMsg);ros::spin();return 0;
}

#! /usr/bin/env pythonfrom topic_com.msg import Person
import rospy
def doMsg(p):rospy.loginfo("I heard %s %d %.2f",p.name,p.age,p.height)
if __name__ == "__main__":rospy.init_node("listener_p")sub =rospy.Subscriber("chatt",Person,doMsg,queue_size=1000)rospy.spin()