How catkin_make converts msg files into .h files

env: Ubuntu 18.04 ros1.0 melodic
question: I would like to know how catkin_make converts msg files into .h files. And If we don't use the catkin_make, can we compile msg files only with CMakeLists.txt？

Thanks.

Asked by vegetable on 2022-12-06 04:02:08 UTC

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Answers

Ad Q1. The generation itself is part of the ROS client libraries. The ROS Client Libraries implement message generators that translate .msg files into source code, check out roscpp.

http://wiki.ros.org/msg#Building_.msg_Files
http://wiki.ros.org/roscpp/Overview

Ad Q2. You can build your ROS node with messages outside catkin_ws, you can follow steps from this tutorial:

https://roboticsbackend.com/ros-node-outside-catkin-workspace/

Asked by ljaniec on 2022-12-07 03:38:03 UTC