Ask Your Question

Revision history [back]

If you created a custom message then you need to create a Publisher that uses that custom message type. Right now your publisher is using a std_msgs/Int64 type which only has a single field named data.

Let's say your custom message is in a package called my_custom_msgs and that the file is named Custom.msg. Then you would need to declare your publisher like

ros::NodeHandle n;
ros:Publisher pub = n.advertise<my_custom_msgs::Custom>("chatter", 1000);

Now you can declare a message using the custom data type, populate each of the fields in your message, and publish.

my_custom_msgs::Custom msg;
msg.intensity = 15;
msg.location = 100;
msg.duration = 37;
pub.publish(msg);

If you created a custom message then you need to create a Publisher that uses that custom message type. Right now your publisher is using a std_msgs/Int64 type which only has a single field named data.

Let's say your custom message is in a package called my_custom_msgs and that the file is named Custom.msg. Then you would need to declare your publisher like

ros::NodeHandle n;
ros:Publisher pub = n.advertise<my_custom_msgs::Custom>("chatter", 1000);

Now you can declare a message using the custom data type, populate each of the fields in your message, and publish.

my_custom_msgs::Custom msg;
msg.intensity = 15;
msg.location = 100;
msg.duration = 37;
pub.publish(msg);

Later, if you change your message to include a string so that it becomes

int64 intensity 
int64 location
int64 duration
string note

Then you will create the publisher the same way, but populating the fields and publishing will be

my_custom_msgs::Custom msg;
msg.intensity = 15;
msg.location = 100;
msg.duration = 37;
msg.note = "Hello";
pub.publish(msg);