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1、自定义消息类型Student

1.1 创建base_interfaces_demo包

1.2 创建Student.msg文件

string name
int32 age
float64 height

1.2 在cmakeLists.txt中增加如下语句

#增加自定义消息类型的依赖
find_package(rosidl_default_generators REQUIRED)
# 为接口文件生成源代码
rosidl_generate_interfaces(${PROJECT_NAME}"msg/Student.msg")

2、发布方实现

#导入所需的包
import rclpy
from rclpy.node import Node
from base_interfaces_demo.msg import Student#自定义节点类
class Talker(Node):def __init__(self):super().__init__("talker_stu_node_py")self.count=0self.get_logger().info("发布方已创建！（python）")self.publisher=self.create_publisher(Student,"chatter_stu",10)self.timer=self.create_timer(0.1,self.on_timer)def on_timer(self):message=Student()mes