aa has a message two_ints as follows: int16 a1 int16 b1 Both the packages use this message. ROS custom messages are specified in ROS package folders that contains msg, srv, and action directories. Lets break this CMakeLists.txt line by line. We will look into getting custom messages to work in the extension workflow in the future. Nothing unusual here, thats the same for every ROS package you create. Necessary cookies are absolutely essential for the website to function properly. "catkin_make" on my Raspberry Pi is so slow. I have tried various things but in vain. How to Create and Publish a ROS Custom Message | C++ | ROS Tutorial for Beginners - YouTube This tutorial talks about writing a custom message in C++ for a ROS framework. Create your own ROS2 custom message (Msg) Create the message file Write the message definition Add the message in CMakeLists.txt Build your custom message Use your ROS2 custom message in your code - from another package Create/build/use your own ROS2 custom service (Srv) Conclusion - Create custom ROS2 messages Using existing messages /interfaces. roscd noetic_basics_part_1/src. The library is neither a target nor built/installed properly. Do you want to become better at programming robots, with Arduino, Raspberry Pi, or ROS2? Here we have almost the minimum content we have to put in a package.xml file. Is there any idea to improve this? 13 comments zholtovski commented on Jan 31, 2020 Using adamdbrw's workspace, I copied the gps_msgs package to his workspace and built the whole project. :( (I gave u upvote, thanks). Step 2: Create a package as specified in the question to reproduce the problem 1. So, you have to take that into account for your include lines. But opting out of some of these cookies may affect your browsing experience. First, create a package for your library. Youll have to do all the previous steps, even if everything is in the same package. You want to include a Cpp header from another package in ROS, and dont know how to do? There are only two important lines here, the rest will be the same every time: This code will be used to install your module. Creating custom msg and srv files Goal: Define custom interface files ( .msg and .srv) and use them with Python and C++ nodes. These cookies will be stored in your browser only with your consent. How to use custom defined messages in another package? Add the include directory here or uncomment it. This will be done by catkin. Let's create a C++ program named simple_publisher_node_custom_msgs.cpp. Usually when you create such a library, the name of the package and the name of the file is the same. OK, youve now correctly written your CMakeLists.txt. Well use this file to install the Python module. These cookies help provide information on metrics the number of visitors, bounce rate, traffic source, etc. I've setup all the prerequisite for using slam_toolbox with my robot interfaces: launch for urdf and . How to source setup.bash with catkin build? However, you may visit "Cookie Settings" to provide a controlled consent. Spatio-Temporal-Voxel-layer catkin_make error on ros-melodic, Adding a cpp file to include in executable file. One more thing before you compile: edit your package.xml. Heres what your package should look like: Here its your job to write whatever code you want in your library. Actually, that is exactly what I was asking. In the package.xml of myPackage I added, message_package , find_package(catkin REQUIRED Previously I said its a best practice to put your header files into the include/package_name/ folder. The header file is not directly in the source/ folder, but instead in the source/my_roscpp_library/ folder. Can you please post your message file in the question? You also have the option to opt-out of these cookies. This cookie is set by GDPR Cookie Consent plugin. Why I got error "msg does not have header"? std_msgs Don't add "Msg" or "Interface" in the name, this will add redundancy. Everything is now correctly setup, you should be able to use your module in any other package. Inside this package, create a setup.py file. Youll put your module(s) here. The GStreamer plugin decodebin is very useful if you're unsure of which decoder to use on a stream. Here are the steps for Linux and OSX. To open a "terminal" on ROSDS , pick the Shell app from the Tools menu. Hi, I am trying to stream video from mipi camera (mounted on VAR-DT6 Custom board) to a web browser. For this example Ill assume that were using ROS features inside the library. Ex: your node is in scripts/ and your Python module in src/package_name/, inside the same package. Introduction to msg and srv. A message is a simple data structure, comprising typed fields. However, I was under the assumption that by correctly setting the CMakeLists.txt and Package.xml file correctly, it would understand the pathing. In bb/CMakeLists.txt you do not have aa listed in find_package() or catkin_pkg/CATKIN_DEPENDS, which you will probably need. In my workspace I have two package - aa and bb. This website uses cookies to improve your experience while you navigate through the website. Install this Python module in your ROS environment. Goal: Learn more ways to implement custom interfaces in ROS 2 Tutorial level: Beginner Time: 15 minutes Contents Background Prerequisites Tasks 1 Create a package 2 Create a msg file 3 Use an interface from the same package 4 Try it out 5 (Extra) Use an existing interface definition Summary Next steps Related content Background include the .hpp file of the relevant message in the code. ROS allows you to do that, and as youll see its quite simple. Accessing data downloaded via catkin_download_test_data, Triggering pip requirements.txt from catkin build, (Groovy @ 12.04) Error on: $ ./src/catkin/bin/catkin_make_isolated --install. This cookie is set by GDPR Cookie Consent plugin. You can find the IDE app on the Tools menu. Now you know how to include a header file from another package in ROS. These messages may be from a common package within my system, or a simple message type within geometry_msgs. Note At any time, there should only be one custom messages folder on the MATLAB path. In this case youll also have issues when trying to import the module from your node. This cookie is set by GDPR Cookie Consent plugin. The cookies is used to store the user consent for the cookies in the category "Necessary". Out of these, the cookies that are categorized as necessary are stored on your browser as they are essential for the working of basic functionalities of the website. After creating the package, add a header and a cpp file. Please start posting anonymously - your entry will be published after you log in or create a new account. ROS custom messages are specified in ROS package folders that contains msg, srv, and action directories. You can see the rospy, because we are importing rospy in the code of the Python file. If you are working on ROSDS, please create a ROSject first, as indicated above. Do you want to learn how to program with ROS? What else can I do to tell catkin to compile message_package BEFORE myPackage, so that the necessary headers are there? Then, create a src/ folder (if not existing), and inside src/, create a folder with the same name as the package. This cookie is set by GDPR Cookie Consent plugin. This cookie is set by GDPR Cookie Consent plugin. Hence I get a compilation error: fatal error: message_package/msg.h: No such file or directory #include "message_package/msg.h" In this example, you go through the procedure for creating ROS custom messages in MATLAB .You must have a ROS package that contains the required msg, srv, and action files. You can see that to include the header, first, we use the name of the library (my_roscpp_library) followed by the name of the header we want to include (my_super_roscpp_library.h). Check out ROS For Beginners and learn ROS step by step. Withing catkin_package(), we give some useful info for the build system. Order of catkin source setup.bash files matters? Note that this is not an in-depth CMake tutorial, more like a practical guide to solve your include problems. I am new to ROS so apologies if it is obvious. At this moment you should have a web Desktop. Note: here I use ROS logging directly into the library. Advertisement cookies are used to provide visitors with relevant ads and marketing campaigns. Then you'd probably need to change the find_package to include the packages your custom messages are in. This tip mostly applies when youve just installed the Python module, and you dont understand why importing it from another package doesnt work! It use Jetson series boards and Raspberry Pi 4B as the . We also use third-party cookies that help us analyze and understand how you use this website. This folder can contain multiple packages. E.g., <depend>autoware_sensing_msgs</depend>. Well, this tutorial is for you. Dont forget INCLUDE_DIRS and LIBRARIES so you can install the library later. launch . My problem focuses on how to include a message from a separate package. To do that, simply execute catkin_make in your catkin workspace folder. These cookies will be stored in your browser only with your consent. I will start from scratch with a brand new custom library, build it inside a package, install it, and use it from another package (by including the header). I needed to add 2 more custom messages so I did the following: Added the ".msg" files for each into the msg folder in my_ros_messages package (along with the other 66 messages that were already there). The correct file contents and folder structure are described in Custom Message Contents. Other uncategorized cookies are those that are being analyzed and have not been classified into a category as yet. These cookies ensure basic functionalities and security features of the website, anonymously. However, you may visit "Cookie Settings" to provide a controlled consent. These cookies track visitors across websites and collect information to provide customized ads. For simplicity Ill make the 2 files very short. Analytical cookies are used to understand how visitors interact with the website. Analytical cookies are used to understand how visitors interact with the website. Description: This tutorial will show you how to define your own custom message data types using the ROS Message Description Language. Hi all, I'm facing a problem using the slam_toolbox package in localization mode with a custom robot running ROS2 Foxy with Ubuntu 20.04 I've been looking a lot about how slam and navigation by following the tutorials on Nav2 and turtlebot in order to integrate slam_toolbox in my custom robot. Check out ROS For Beginners and learn ROS step by step. Inside the CMakeLists.txt (of the other package, not the library package), add this: And add a my_roscpp_library tag inside the package.xml. It's now becoming more and more stable, with many new packages and functionalities released each month. Just as you would do for a node executable with add_executable() use add_library() to build your library. Note: this tutorial also works when you put all Python files in the same package, but in different folders. This function will call the setup.py file that you created just before, so the installation can be done. Now, compile with catkin_make and you should see those logs. What I want to do now is use one CMakeList to call and build the required ROS packages. Assuming the node you're trying to compile is called your_executable, try: Huh it's working, thanks. You can notice the catkin_python_setup(). In the top CMakeLists.txt I have find_package (myPackage) and this works fine for my usage, myExecutable.cpp which uses the message/service defined in myPackage and libraries made by others in otherLibraries compiles and run just fine. Functional cookies help to perform certain functionalities like sharing the content of the website on social media platforms, collect feedbacks, and other third-party features. Ex: "MotorTemperature". Create Custom Messages from ROS Package In this example, you go through the procedure for creating ROS custom messages in MATLAB . Now, its your turn to write what you need to write in your Python module. First of all, from command line, enter the package folder exploiting the roscd ROS command: roscd custom_msgs Once in the package folder, create a new folder called msg, such that the custom messages contained in it will be automatically recognized at build time: mkdir msg cd msg Here I'll start a package from scratch so you get every details to make it work. Finally, you can create all your Python modules files here. #include "message_package/msg.h", I don't understand why catkin does that. Sorry forgot to include that in the question. What does "catkin build --cmake-args -DCMAKE_BUILD_TYPE=Release" actually do? Create a publisher that sends ROS 2 string messages to the /chatter topic. roscpp Do you want to become better at programming robots, with Arduino, Raspberry Pi, or ROS2? We use cookies on our website to give you the most relevant experience by remembering your preferences and repeat visits. Perfect for our test. My assumption was that it was correct, but thanks for confirming. You could just make a simple Cpp library available for your other ROS packages. Performance cookies are used to understand and analyze the key performance indexes of the website which helps in delivering a better user experience for the visitors. The correct file contents and folder structure are described in Custom Message Contents.This folder structure follows the standard ROS package conventions. Create a package which contains a Python module. To do this I believe that the custom package need to be in the same workspace as the other packages you will use. If youre interested in doing the same thing in Python, check out how to import a Python module from another ROS package. Creating Custom Message using ROS Message (or Custom Message) catkin msgs custom_message geometry_msgs message_generation asked Nov 21 '13 orion 213 15 20 25 updated May 26 '19 jayess 6071 26 84 90 My problem is similar to this link, however, I do understand how to use messages within the same package. This folder can contain multiple packages. If you run this node (call roscore in another terminal before): You are now able to import a Python module from another package. Basically this module just contains one function that prints a success message. Okay, skip to Step 2. msg files are stored in the msg directory of a package, and srv files . Step 2. Check out ROS For Beginners and learn ROS step by step. Then we just call the function declared in the library header, sayHello(). I added that to my message file and the error went away as I mentioned in the question. This cookie is set by GDPR Cookie Consent plugin. I added the filenames to the "add_message_files ()" in the CMakeLists.txt in the my_ros_messages package. If "package_b" provides a separate development package or SDK, be sure it has been installed. Although this is not officially recommended, for now you could try this workaround of providing the full path to your CustomMsg module. By clicking Accept All, you consent to the use of ALL the cookies. These cookies track visitors across websites and collect information to provide customized ads. Pay attention to the include/${PROJECT_NAME}/. Yes @gvdhoorn it is mostly copy-paste.In fact this is my second project in ROS just after beginner-tutorials. - GitHub - BruceChanJianLe/ros-custom-msg: This repository demo how to properly use . @mayank: catkin/cmake doesn't know that there is a build-time dependency (and thus a required ordering when building) without the information that @Thomas D writes about. The code you write can depend on ROS as we did here with a dependency to roscpp, but it can also be ROS-independent. See: http://docs.ros.org/indigo/api/catkin for details. (If you run the script yourself, the module will be installed in a different location, and thus youll have multiple installations of the same module, which is not recommended). For the sake of simplicity, Ill make it very short for this tutorial. Here is a simple code for a ROS node that imports and uses the Python module. srv: an srv file describes a service. In this new folder, create an empty __init__.py file. z); // Wait until it's time for another iteration. The cookie is used to store the user consent for the cookies in the category "Performance". The name for this node in ROS will be simple_publisher_node_custom_msgs . It is composed of two parts: a request and a response. At the end the my_robot_common package will look like that: Lets first write the code/configuration for all files, and then install the Python module. Here you can see why its important. Related: For the Cpp version of this tutorial, check out how to import a Cpp header from another ROS package. When I catkin_make my workspace I get the following error in source of bb: Please help me out. What does "catkin build --cmake-args -DCMAKE_BUILD_TYPE=Release" actually do? This website uses cookies to improve your experience while you navigate through the website. COMPONENTS Lets first see how to organize your packages internal structure. The package contains the custom message type Standalone.msg. Package a need to know the message defined in package_b. Therefore the CMAKE_PREFIX_PATH must not contain paths from ROS 1 which would overlay ROS 2 packages. It is recommended that you keep them all in one unique folder. Did you compile project 'aa'? Tutorial Level: Next Tutorial: Using a C++ class in Python Contents Generating Messages Including or Importing Messages C++ Python Dependencies catkin rosbuild Generating Messages Generating a message is easy. Tutorial level: Beginner Time: 20 minutes Contents Background Prerequisites Tasks 1 Create a new package 2 Create custom definitions 3 CMakeLists.txt 4 package.xml 5 Build the tutorial_interfaces package Execute those commands to create all necessary files. These cookies help provide information on metrics the number of visitors, bounce rate, traffic source, etc. MATLAB uses these files to generate the necessary files for using the custom messages contained in the package. These cookies ensure basic functionalities and security features of the website, anonymously. ROS 2 packages are found through CMake using find_package(). (Groovy @ 12.04) Error on: $ ./src/catkin/bin/catkin_make_isolated --install, Creating Custom Message using ROS Message (or Custom Message), Creative Commons Attribution Share Alike 3.0. aa has a message two_ints as follows: Both the packages use this message. I am new to ros and was writing code to publish and listen to a custom message. Please start posting anonymously - your entry will be published after you log in or create a new account. In my workspace I have two package - aa and bb. Also youll put all your ROS dependencies with CATKIN_DEPENDS, and all your non-ROS dependencies with DEPENDS. Did you find_package() it before the subdirectory containing its code is included? I added the import to the main_gui . With ROS2 you can write software for almost any robot. Writing the Custom Message Before proceeding, a custom message should be defined following the Creating A Message tutorial. Navigate to your ROS package and create a msg folder create an empty document in to the msg folder name it as samplemsg with extension .msg Open the package in any editor and add the attributes . how to import a Python module from another ROS package, Include your header in another ROS package. You also have the option to opt-out of these cookies. msg: msg files are simple text files that describe the fields of a ROS message. Important Note: if you place your main node into the scripts/ folder of your package, and a Python module in the src/your_package/ folder of this same package, the same rules apply. I see this in the CMakeLists.txt of both aa and bb, but you never actually create any libraries, only executables. Create your library package Write your Cpp library Install the library CMakeLists.txt Breaking down the code package.xml Compile your library Include your header in another ROS package Create your library package First, create a package for your library. For the sake of this tutorial I chose to use a different name for package and files my_super_roscpp_library so you can clearly differentiate the library name from header name during the post. You have ROS installed on a local PC. cast a spell on ROS2 - Robot Operating System 2 - is the next generation of ROS. For using custom messages in the standalone workflow you can follow the tutorial here. You must have a ROS 2 package that contains the required msg file. The cookie is used to store the user consent for the cookies in the category "Performance". And finally, after the build, you can install your library with those lines. But opting out of some of these cookies may affect your browsing experience. Determine path of (sourced) catkin workspace? Refresh the page, check Medium 's site. Custom message Python Application in ROS | by Lavanya Ratnabala | Medium Write Sign up Sign In 500 Apologies, but something went wrong on our end. At the end of this tutorial youll be able to: If youre here, you might have already tried but were not successful, getting an error such as ImportError: No module named another_package.module_to_import. I thought that's taken care of with build_depend. Please start posting anonymously - your entry will be published after you log in or create a new account. Please remove that from your CMakeLists.txt. If yes, subscribe to receive exclusive content and special offers! If yes, subscribe to receive exclusive content and special offers! Now you just need to open a Web Shell and run the commands below. It is recommended that you keep them all in one unique folder. I've converted this to an answer, as it is the answer. Give us more details about what you want to learn! Note At any time, there should only be one custom messages folder on the MATLAB path. In the package.xml youll have to add all dependencies you need for your library. I am new to ros and was writing code to publish and listen to a custom message. My problem is similar to this link, however, I do understand how to use messages within the same package. I have multiple ROS packages and currently I use them by linking them to my catkin workspace using symbolic links. You should first build everything but the ROS 1 bridge with normal colcon arguments. All right, you have written all necessary code: the Python module itself, a setup.py file to install the module, a line in CMakeLists.txt to actually call setup.py, and the required dependencies in the package.xml. The cookie is set by the GDPR Cookie Consent plugin and is used to store whether or not user has consented to the use of cookies. Often people start with command-line pipelines and later they add the pipelines to their programs if needed. You need to add a build-time dependency between your package and the packages you depend on. This will be much quicker. Hence I get a compilation error: fatal error: message_package/msg.h: No such file or directory Define custom messages in python package (ROS2), Accessing data downloaded via catkin_download_test_data, Triggering pip requirements.txt from catkin build. We also use third-party cookies that help us analyze and understand how you use this website. Once the ROSject is created, you can open it. If a node wants to share information, it must use a publisher . To import the module, you simply have to put the name of the ROS package where the module was installed, followed by the name of the file. Also talker gets built even though it also includes aa/two_ints.h. ROS For Beginners - A Step By Step Course. The `bb/CMakeLists.txt' is modified and is as follows: Now when I catkin_make the catkin_new workspace I get following error: Looks like bb is getting built before/in parallel with aa. In another package, import the previously created module and use it. The cookie is set by GDPR cookie consent to record the user consent for the cookies in the category "Functional". Does your bb/package.xml file exist? The custom. This way you have properly set your dependencies. Open up a new terminal window. Here you can see that your library name doesnt have to have the same name as your cpp files. Move to the src folder of the package we created earlier called noetic_basics_part_1. Catkin: Use ROS message from another package, Creative Commons Attribution Share Alike 3.0. Or you already tried and got a lot of compilation errors? Standard primitive types (integer, floating point, boolean, etc.) >> ROS For Beginners - A Step By Step Course <<. Advertisement cookies are used to provide visitors with relevant ads and marketing campaigns. Type this command to open a brand new C++ file. Add all the other packages that you use from this package. What exactly is ${catkin_EXPORTED_TARGETS}? Do you depend on aa? Adding a custom ROS package as dependency to another ROS package. Youll also need to call target_link_libraries() with any ROS/non-ROS library youre using in your code. The cookie is set by the GDPR Cookie Consent plugin and is used to store whether or not user has consented to the use of cookies. The problem I have is that catkin first tries to build myPackage before message_package. And two_ints.h is present in devel/aa/ directory. By clicking Accept All, you consent to the use of ALL the cookies. For those who will ask, below is the CMakeLists.txt file: The error message indicates that you use PoseArray without prefixing it with geometry_msgs. Well only have one dependency to roscpp here. You must have a ROS package that contains the required msg , srv, and action files. The rules/conventions for message files: Use CamelCase for the name of the interface. For the ROS package Ill use the name my_robot_common, which can be a good name for common tools required by several other packages. Important: before you try to import the module, make sure you have sourced the catkin_ws/devel/setup.bash file, either directly or from your .bashrc (source ~/.bashrc). The cookie is set by GDPR cookie consent to record the user consent for the cookies in the category "Functional". The user had a problem with the custom messages, we can create it with the following steps. Out of these, the cookies that are categorized as necessary are stored on your browser as they are essential for the working of basic functionalities of the website. This cookie is set by GDPR Cookie Consent plugin. Give us more details about what you want to learn! For this example were using roscpp, so we add roscpp after the catkin tag. If you have a package which contains some common tools, helper functions, utils, or other stuff like that, you may want to be able to write the code once in this package, and then be able to import it in any other package you create. Install the Python module in your ROS environment setup.py CMakeLists.txt package.xml Install the Python module Use your module in another ROS package Setup a package with a Python module Let's first see how to organize your package's internal structure. What am I missing? See the catkin howto documentation for more info on this. Add aa to the CATKIN_DEPENDS of bb at least. Note: if youre still using package.xml version 1 (), use module instead. RobotSetup tf: Can't build in Catkin_make, Ros commands no longer working after source catkin_ws/devel/setup.bash, ImportError: No module named _roslz4 after Installing from source, catkin_make unable to create executable & automatically copy .h files to devel, Error running catkin_make with tf2_geometry_msgs, CMakeLists.txt calls CMakeLists.txt -> ROS FAIL [closed]. To test it, simply create a node in another package of your choice. Add the installation prefix of "package_b" to CMAKE_PREFIX or set "package_b_DIR" to a directory containing one of the above files. Necessary cookies are absolutely essential for the website to function properly. The library is now installed and available to your other ROS packages. The problem I have is that catkin first tries to build myPackage before message_package. We use cookies on our website to give you the most relevant experience by remembering your preferences and repeat visits. The message used in this tutorial will be named Person.msg and have the following structure: string name int32 age Writing the Publisher Change directory the package that you wrote the custom message for. Lets now install the library. Create a package my_robot_common with rospy as a dependency. I'm trying to use a ROS message defined in another package, lets say message_package in my own package which I will call myPackage. Create your own ROS2 custom message (Msg) Create the message file In your newly created package, go inside the msg/ folder and create a new file there. In this video I will explain how to send custom messages between ROS 1&2 using the ros1_bridge package (https://github.com/ros2/ros1_bridge).I've created a r. Finally, make sure you source ~/.bashrc, run roscore in another terminal, and start the node: Success! This article describes the high-level steps to migrate a ROS 1 package to ROS 2. For example: If the package name is not included, I get something like: Is this the only way to include a custom message from another package, or is there a better way? ROS For Beginners - A Step By Step Course. are supported, as are arrays of primitive types. how to import a Cpp header from another ROS package, Install the Python module in your ROS environment. [msg2,status,statustext] = receive (sub,10). genmsg message_package ). Thats it! The cookies is used to store the user consent for the cookies in the category "Necessary". Why so? The cookie is used to store the user consent for the cookies in the category "Analytics". How to use custom message in autoware# You can use the custom messages in Autoware by following these steps: add dependency in package.xml. The catkin_package() needs to be called before add_library() and install(). When I catkin_make my workspace I get the following error in source of bb: >> ROS For Beginners - A Step By Step Course <<. I am running ROS kinetic on Debian machine. Next step! I'm trying to use a ROS message defined in another package, lets say message_package in my own package which I will call myPackage. They are used to generate source code for messages in different languages. For every ROS package or Python non core module you import, add a module here. It does not store any personal data. Here we wouldve had my_roscpp_library.cpp and my_roscpp_library.h. You can set a LaunchConfiguration before including another launch file, but an argument is better if you want it to be reused. The bridge uses pkg-config to find ROS 1 packages. Error message from TERM console. Other uncategorized cookies are those that are being analyzed and have not been classified into a category as yet. Now the GnssInsOrientationStamped message will be discoverable by other packages in Autoware. Your Python module is now installed, you can use it from any other ROS package. This cookie is set by GDPR Cookie Consent plugin. Here Ill start a package from scratch so you get every details to make it work. This repository demo how to properly use custom ROS msg from another package. I am running ROS kinetic on Debian machine. So, you may have experienced compilation errors similar to : fatal error: my_roscpp_library/my_super_roscpp_library.h: No such file or directory. Do you want to learn how to program with ROS? Note: dont execute this script yourself! Please edit your question and add (do not overwrite) the updated CMakeLists.txt and package.xml for both packages. Its also a good practice to put your header files into the include/package_name/ folder, and not just inside include/. I found some words in ros_package_generation.sh echo 'manually add the following libraries to the tar.gz generated by this script if on Xavier (Version numbers may change),' echo 'liblog4cxx.so.10, libboost_system.so.1.65.1, libboost_regex.so.1.65.1, libboost_thread.so.1.65.1, libboost_chrono.so.1.65.1,' Messages can include arbitrarily nested structures and arrays (much like C structs). generate_launch .Migration guide from ROS 1. It does not store any personal data. If you dont use any ROS functionality, its better not to use ROS logging either, so your library can be completely ROS-independent. During my search, I found one other solution that followed this train of though at this link. The cookie is used to store the user consent for the cookies in the category "Other. Yes, bb/package.xml exists and it contains 'aa' as build and run dependencies. It is a CMake variable containing all the targets exported by packages you depend on. I have tried including the required dependencies in the CMakeLists.txt and Package.xml files, but for the code to work I have to include the package name in the variable type call. The knowledge you build with a project can be reused later to create a new robotics project in no time. Just to clarify the syntax in a message file - it is: The PackageName/ is left out when referring to message from the same package. Nodes can also exchange a request and response message as part of a ROS service call. The cookie is used to store the user consent for the cookies in the category "Other. I have created a package with some "CustomMessage" that pulls from other packages and their messages. Performance cookies are used to understand and analyze the key performance indexes of the website which helps in delivering a better user experience for the visitors. You might also need to change your package.xml file. In this tutorial Ill show you how to import a Python module from another package. Ill just give you the right amount of information so you can quickly setup your library and understand what configuration to change if needed. Create a ROS package We create a package to start to reproduce the problem in it. I added the project aa in both the places in bb/CMakeLists.txt but it says: Project 'bb' tried to find library 'aa'. The cookie is used to store the user consent for the cookies in the category "Analytics". Creative Commons Attribution Share Alike 3.0. Create Custom Messages from ROS Package. Functional cookies help to perform certain functionalities like sharing the content of the website on social media platforms, collect feedbacks, and other third-party features. Why nobody upvotes question? In this example, you create ROS 2 custom messages in MATLAB. I was mainly wondering if that was the correct way or if there was another way. 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