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ROS2 Custom interface

  • Create ament_cmake package
  • Create folders srv and msg
  • Update CMakeLists.txt and package.xml
  • VSCode tips
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├── CMakeLists.txt
├── msg
│   └── Demo.msg
├── package.xml
└── srv
    └── Demo.srv
Demo.msg
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int32 data
Demo.srv
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---
string message
bool success

CMakelists.txt and package.xml

CMakeLists.txt
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cmake_minimum_required(VERSION 3.8)
project(pkg_interface)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rosidl_default_generators REQUIRED)

set(MESSAGES
  "msg/Demo.msg"
)

set(SERVICES 
  "srv/Demo.srv"
)


rosidl_generate_interfaces(${PROJECT_NAME}
  ${MESSAGES}
  ${SERVICES} 
)


ament_export_dependencies(rosidl_default_runtime)

ament_package()
package.xml
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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
  <name>pkg_interface</name>
  <version>0.0.1</version>
  <description>Simple interface</description>
  <maintainer email="robo2020@gmail.com">user</maintainer>
  <license>Apache-2.0</license>

  <buildtool_depend>ament_cmake</buildtool_depend>

  <buildtool_depend>rosidl_default_generators</buildtool_depend>
  <exec_depend>rosidl_default_runtime</exec_depend>
  <member_of_group>rosidl_interface_packages</member_of_group>

  <export>
    <build_type>ament_cmake</build_type>
  </export>
</package>

VSCode tips

Fix pylance extra path

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"${workspaceFolder}/install/<package_name>/local/lib/python3.10/

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"python.analysis.extraPaths": [
        "${workspaceFolder}/",
        "${workspaceFolder}/install/pkg_interface/local/lib/python3.10/dist-packages/",
        "/opt/ros/humble/lib/python3.10/site-packages/",
        "/opt/ros/humble/local/lib/python3.10/dist-packages/"
    ]