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Defining custom interfaces (msg/srv)


While we encourage reuse of existing “standard” message and service definitions wherever possible, there are plenty of cases in which you’ll need to define your own custom messages and/or services for a particular application. The first step in defining a custom message or service is to write the .msg or .srv file, which you do using the ROS interface definition language. By convention, .msg files go into a package subdirectory called msg and .srv files go into a package subdirectory called srv (you can pick different locations, but we recommend following the convention).

Having written your .msg and/or .srv files, you need to add some code to your package’s CMakelists.txt file to make the code generators run over your definitions. In lieu of a more complete tutorial on this topic, consult the pendulum_msgs package as an example. You can see the relevant CMake calls in that packages’s CMakeLists.txt file.

If the interfaces are created in the same package that utilizes them, you’ll need to link against them using the rosidl_target_interfaces macro.

rosidl_target_interfaces(MY_LIBRARY_NAME ${PROJECT_NAME} "rosidl_typesupport_cpp")

Note that the package.xml format must equal 3 for this to build, this is because the member_of_group command requires format 3. ROS2’s create package generates the package.xml with a default format of 2, e.i. <member_of_group>rosidl_interface_packages</member_of_group> required for packages with custom interfaces.