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Creating msg and srv tutorial

asked 2016-08-11 00:59:09 -0500

alienmon gravatar image

updated 2016-08-11 04:56:13 -0500

NEngelhard gravatar image

I'm doing this tutorial

There's one more step, though. We need to make sure that the msg files are turned into source code for C++, Python, and other languages:

Open package.xml, and make sure these three lines are in it and uncommented:

<build_depend>message_generation</build_depend>
  <run_depend>message_generation</run_depend>
  <run_depend>message_runtime</run_depend>

Note that at build time, we need "message_generation", while at runtime, we only need "message_runtime".

My question is: It says that while at runtime, we only need "message_runtime". , then why it put the message generation in run_depend (look at the three lines)?

In addition, can you please explain what are message_generation, message_runtime , and all these things we put in the middle of build_depend ,run_depend, and other tags are? noob questions

Lastly.... I noticed that in the tutorial: while in creating msg, it mentions to call generate_message function and to make sure we export message_runtime dependecy. In creating srv, it doesn't mention to do so. Is it not required for creating a srv? Why?

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answered 2016-08-12 03:47:03 -0500

ghkraju gravatar image

1 I think you can remove the message_generation in run_depend. Please have a look at here ( http://wiki.ros.org/ROS/Tutorials/Cre... ) It is just :

<build_depend>message_generation</build_depend>

<run_depend>message_runtime</run_depend>

2 (Despite its name, message_generation works for both msg and srv.) I think its the same for message_runtime.

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Yah I know message_generation works for both msg and srv. What I means is that : If I create a srv (assuming I haven't created anything before), do I need call generate_message function and make sure exporet message_runtime dependecy as well?

alienmon gravatar image alienmon  ( 2016-08-14 20:13:02 -0500 )edit

Yes, You need them while catkin_make otherwise you will get a compilation error for the source file where you linked the respective service since it doesn't what that service is......

ghkraju gravatar image ghkraju  ( 2016-08-15 02:30:28 -0500 )edit

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Asked: 2016-08-11 00:59:09 -0500

Seen: 141 times

Last updated: Aug 11 '16