【ROS学习-9】创建ROS msg和srv
1. 关于 msg 和 srv msg : msg files are simple text files that describe the fields of a ROS message. They are used to generate source code for messages in different languages. srv : an srv file describes a service. It is composed of two parts: a request and a response. msg files are stored in the msg directory of a package, and srv files are stored in the srv directory. msgs are just simple text files with a field type and field name per line. The field types you can use are: int8, int16, int32, int64 (plus uint*) float32, float64 string time, duration other msg files variable-length array[] and fixed-length array[C] There is also a special type in ROS: Header , the header contains a timestamp and coordinate frame information that are commonly used in ROS. You will frequently see the first line in a msg file have Header header . ...