custom_message_package

Custom message package example

This is an example of how to use a ROS 2 package containing custom ROS 2 message definitions in a ROS 2 node implemented using rclgo. greeting_msgs contains a ROS 2 package with a custom message definition that is used by greeter, a ROS 2 node implemented using rclgo.

First greeting_msgs must be built. Ensure you have sourced your ROS 2 environment and have C build tools, colcon and rosidl C generator installed (Ubuntu packages build-essential, python3-colcon-common-extensions and ros-$ROS_DISTRO-rosidl-generator-c). Switch to greeting_msgs directory and build C bindings for the package by running

colcon build

Source the package as an overlay by running

. install/local_setup.sh

Then switch to greeter directory. Generate Go bindings by running

go generate

Now the program can be compiled and tested by running

go build
./greeter

which publishes a welcoming greeting to someone in ROS topic /greeter/hello.