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I have solved this proble. We should "Create Custom Messages from ROS Package" by ourselfs.

Firstly, install "Robotics System Toolbox Interface for ROS Custom Messages"

Secondly, because my packages and matlab are both in ubuntu system, so I just enter follow codes in matlab command window.

userfolder = '/home/robot/msg_gen';
rosgenmsg(userfolder);

and I had put my packages "action_tutorials" into msg_gen. Then message file will be generated in /msg_gen/matlab_gen . You can watch https://www.mathworks.com/help/robotics/ug/create-custom-messages-from-ros-package.html for more details.

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