如何将ROS2 msg文件转C++源码
发布时间：2025-11-06 17:37:37.439 文章来源：AiSoftCloud 浏览次数：31 下载次数：1 

安装依赖工具

  1. sudo apt install -y ros-humble-rosidl-default-generators ros-humble-rosidl-default-runtime

创建一个msg

/home/ubuntu/rosidl/msg/Num.msg:

  1. # Num.msg
  2. int64 num
  3. string name

将msg转成idl

首先使用rosidl工具将msg文件转成idl文件：

  1. cd /home/ubuntu
  2. /opt/ros/humble/bin/rosidl translate --to idl my_manual_msg msg/Num.msg

编写json文件

/home/ubuntu/rosidl/generator_arguments.json

  1. {
  2.   "package_name": "my_manual_msg",
  3.   "output_dir": "/home/ubuntu/rosidl",
  4.   "template_dir": "/opt/ros/humble/share/rosidl_generator_c/resource",
  5.   "idl_tuples": [
  6.     "/home/ubuntu/rosidl:msg/Num.idl"
  7.   ],
  8.   "ros_interface_dependencies": [
  9.     "std_msgs:/opt/ros/humble/share/std_msgs/msg/Bool.idl",
  10.     "std_msgs:/opt/ros/humble/share/std_msgs/msg/Byte.idl",
  11.     "std_msgs:/opt/ros/humble/share/std_msgs/msg/ByteMultiArray.idl",
  12.     "std_msgs:/opt/ros/humble/share/std_msgs/msg/Char.idl",
  13.     "std_msgs:/opt/ros/humble/share/std_msgs/msg/ColorRGBA.idl",
  14.     "std_msgs:/opt/ros/humble/share/std_msgs/msg/Empty.idl",
  15.     "std_msgs:/opt/ros/humble/share/std_msgs/msg/Float32.idl",
  16.     "std_msgs:/opt/ros/humble/share/std_msgs/msg/Float32MultiArray.idl",
  17.     "std_msgs:/opt/ros/humble/share/std_msgs/msg/Float64.idl",
  18.     "std_msgs:/opt/ros/humble/share/std_msgs/msg/Float64MultiArray.idl",
  19.     "std_msgs:/opt/ros/humble/share/std_msgs/msg/Header.idl",
  20.     "std_msgs:/opt/ros/humble/share/std_msgs/msg/Int16.idl",
  21.     "std_msgs:/opt/ros/humble/share/std_msgs/msg/Int16MultiArray.idl",
  22.     "std_msgs:/opt/ros/humble/share/std_msgs/msg/Int32.idl",
  23.     "std_msgs:/opt/ros/humble/share/std_msgs/msg/Int32MultiArray.idl",
  24.     "std_msgs:/opt/ros/humble/share/std_msgs/msg/Int64.idl",
  25.     "std_msgs:/opt/ros/humble/share/std_msgs/msg/Int64MultiArray.idl",
  26.     "std_msgs:/opt/ros/humble/share/std_msgs/msg/Int8.idl",
  27.     "std_msgs:/opt/ros/humble/share/std_msgs/msg/Int8MultiArray.idl",
  28.     "std_msgs:/opt/ros/humble/share/std_msgs/msg/MultiArrayDimension.idl",
  29.     "std_msgs:/opt/ros/humble/share/std_msgs/msg/MultiArrayLayout.idl",
  30.     "std_msgs:/opt/ros/humble/share/std_msgs/msg/String.idl",
  31.     "std_msgs:/opt/ros/humble/share/std_msgs/msg/UInt16.idl",
  32.     "std_msgs:/opt/ros/humble/share/std_msgs/msg/UInt16MultiArray.idl",
  33.     "std_msgs:/opt/ros/humble/share/std_msgs/msg/UInt32.idl",
  34.     "std_msgs:/opt/ros/humble/share/std_msgs/msg/UInt32MultiArray.idl",
  35.     "std_msgs:/opt/ros/humble/share/std_msgs/msg/UInt64.idl",
  36.     "std_msgs:/opt/ros/humble/share/std_msgs/msg/UInt64MultiArray.idl",
  37.     "std_msgs:/opt/ros/humble/share/std_msgs/msg/UInt8.idl",
  38.     "std_msgs:/opt/ros/humble/share/std_msgs/msg/UInt8MultiArray.idl",
  39.     "builtin_interfaces:/opt/ros/humble/share/builtin_interfaces/msg/Duration.idl",
  40.     "builtin_interfaces:/opt/ros/humble/share/builtin_interfaces/msg/Time.idl",
  41.     "geometry_msgs:/opt/ros/humble/share/geometry_msgs/msg/Accel.idl",
  42.     "geometry_msgs:/opt/ros/humble/share/geometry_msgs/msg/AccelStamped.idl",
  43.     "geometry_msgs:/opt/ros/humble/share/geometry_msgs/msg/AccelWithCovariance.idl",
  44.     "geometry_msgs:/opt/ros/humble/share/geometry_msgs/msg/AccelWithCovarianceStamped.idl",
  45.     "geometry_msgs:/opt/ros/humble/share/geometry_msgs/msg/Inertia.idl",
  46.     "geometry_msgs:/opt/ros/humble/share/geometry_msgs/msg/InertiaStamped.idl",
  47.     "geometry_msgs:/opt/ros/humble/share/geometry_msgs/msg/Point.idl",
  48.     "geometry_msgs:/opt/ros/humble/share/geometry_msgs/msg/Point32.idl",
  49.     "geometry_msgs:/opt/ros/humble/share/geometry_msgs/msg/PointStamped.idl",
  50.     "geometry_msgs:/opt/ros/humble/share/geometry_msgs/msg/Polygon.idl",
  51.     "geometry_msgs:/opt/ros/humble/share/geometry_msgs/msg/PolygonStamped.idl",
  52.     "geometry_msgs:/opt/ros/humble/share/geometry_msgs/msg/Pose.idl",
  53.     "geometry_msgs:/opt/ros/humble/share/geometry_msgs/msg/Pose2D.idl",
  54.     "geometry_msgs:/opt/ros/humble/share/geometry_msgs/msg/PoseArray.idl",
  55.     "geometry_msgs:/opt/ros/humble/share/geometry_msgs/msg/PoseStamped.idl",
  56.     "geometry_msgs:/opt/ros/humble/share/geometry_msgs/msg/PoseWithCovariance.idl",
  57.     "geometry_msgs:/opt/ros/humble/share/geometry_msgs/msg/PoseWithCovarianceStamped.idl",
  58.     "geometry_msgs:/opt/ros/humble/share/geometry_msgs/msg/Vector3.idl",
  59.     "geometry_msgs:/opt/ros/humble/share/geometry_msgs/msg/Vector3Stamped.idl",
  60.     "geometry_msgs:/opt/ros/humble/share/geometry_msgs/msg/VelocityStamped.idl",
  61.     "geometry_msgs:/opt/ros/humble/share/geometry_msgs/msg/Wrench.idl",
  62.     "geometry_msgs:/opt/ros/humble/share/geometry_msgs/msg/WrenchStamped.idl"
  63.   ],
  64.   "target_dependencies": [
  65.     "/opt/ros/humble/lib/rosidl_typesupport_c/rosidl_typesupport_c",
  66.     "/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_typesupport_c/__init__.py",
  67.     "/opt/ros/humble/share/rosidl_typesupport_c/resource/action__type_support.c.em",
  68.     "/opt/ros/humble/share/rosidl_typesupport_c/resource/idl__type_support.cpp.em",
  69.     "/opt/ros/humble/share/rosidl_typesupport_c/resource/msg__type_support.cpp.em",
  70.     "/opt/ros/humble/share/rosidl_typesupport_c/resource/srv__type_support.cpp.em",
  71.     "/home/ubuntu/rosidl/msg/Num.idl",
  72.     "/opt/ros/humble/share/std_msgs/msg/Bool.idl",
  73.     "/opt/ros/humble/share/std_msgs/msg/Byte.idl",
  74.     "/opt/ros/humble/share/std_msgs/msg/ByteMultiArray.idl",
  75.     "/opt/ros/humble/share/std_msgs/msg/Char.idl",
  76.     "/opt/ros/humble/share/std_msgs/msg/ColorRGBA.idl",
  77.     "/opt/ros/humble/share/std_msgs/msg/Empty.idl",
  78.     "/opt/ros/humble/share/std_msgs/msg/Float32.idl",
  79.     "/opt/ros/humble/share/std_msgs/msg/Float32MultiArray.idl",
  80.     "/opt/ros/humble/share/std_msgs/msg/Float64.idl",
  81.     "/opt/ros/humble/share/std_msgs/msg/Float64MultiArray.idl",
  82.     "/opt/ros/humble/share/std_msgs/msg/Header.idl",
  83.     "/opt/ros/humble/share/std_msgs/msg/Int16.idl",
  84.     "/opt/ros/humble/share/std_msgs/msg/Int16MultiArray.idl",
  85.     "/opt/ros/humble/share/std_msgs/msg/Int32.idl",
  86.     "/opt/ros/humble/share/std_msgs/msg/Int32MultiArray.idl",
  87.     "/opt/ros/humble/share/std_msgs/msg/Int64.idl",
  88.     "/opt/ros/humble/share/std_msgs/msg/Int64MultiArray.idl",
  89.     "/opt/ros/humble/share/std_msgs/msg/Int8.idl",
  90.     "/opt/ros/humble/share/std_msgs/msg/Int8MultiArray.idl",
  91.     "/opt/ros/humble/share/std_msgs/msg/MultiArrayDimension.idl",
  92.     "/opt/ros/humble/share/std_msgs/msg/MultiArrayLayout.idl",
  93.     "/opt/ros/humble/share/std_msgs/msg/String.idl",
  94.     "/opt/ros/humble/share/std_msgs/msg/UInt16.idl",
  95.     "/opt/ros/humble/share/std_msgs/msg/UInt16MultiArray.idl",
  96.     "/opt/ros/humble/share/std_msgs/msg/UInt32.idl",
  97.     "/opt/ros/humble/share/std_msgs/msg/UInt32MultiArray.idl",
  98.     "/opt/ros/humble/share/std_msgs/msg/UInt64.idl",
  99.     "/opt/ros/humble/share/std_msgs/msg/UInt64MultiArray.idl",
  100.     "/opt/ros/humble/share/std_msgs/msg/UInt8.idl",
  101.     "/opt/ros/humble/share/std_msgs/msg/UInt8MultiArray.idl",
  102.     "/opt/ros/humble/share/builtin_interfaces/msg/Duration.idl",
  103.     "/opt/ros/humble/share/builtin_interfaces/msg/Time.idl",
  104.     "/opt/ros/humble/share/geometry_msgs/msg/Accel.idl",
  105.     "/opt/ros/humble/share/geometry_msgs/msg/AccelStamped.idl",
  106.     "/opt/ros/humble/share/geometry_msgs/msg/AccelWithCovariance.idl",
  107.     "/opt/ros/humble/share/geometry_msgs/msg/AccelWithCovarianceStamped.idl",
  108.     "/opt/ros/humble/share/geometry_msgs/msg/Inertia.idl",
  109.     "/opt/ros/humble/share/geometry_msgs/msg/InertiaStamped.idl",
  110.     "/opt/ros/humble/share/geometry_msgs/msg/Point.idl",
  111.     "/opt/ros/humble/share/geometry_msgs/msg/Point32.idl",
  112.     "/opt/ros/humble/share/geometry_msgs/msg/PointStamped.idl",
  113.     "/opt/ros/humble/share/geometry_msgs/msg/Polygon.idl",
  114.     "/opt/ros/humble/share/geometry_msgs/msg/PolygonStamped.idl",
  115.     "/opt/ros/humble/share/geometry_msgs/msg/Pose.idl",
  116.     "/opt/ros/humble/share/geometry_msgs/msg/Pose2D.idl",
  117.     "/opt/ros/humble/share/geometry_msgs/msg/PoseArray.idl",
  118.     "/opt/ros/humble/share/geometry_msgs/msg/PoseStamped.idl",
  119.     "/opt/ros/humble/share/geometry_msgs/msg/PoseWithCovariance.idl",
  120.     "/opt/ros/humble/share/geometry_msgs/msg/PoseWithCovarianceStamped.idl",
  121.     "/opt/ros/humble/share/geometry_msgs/msg/Quaternion.idl",
  122.     "/opt/ros/humble/share/geometry_msgs/msg/QuaternionStamped.idl",
  123.     "/opt/ros/humble/share/geometry_msgs/msg/Transform.idl",
  124.     "/opt/ros/humble/share/geometry_msgs/msg/TransformStamped.idl",
  125.     "/opt/ros/humble/share/geometry_msgs/msg/Twist.idl",
  126.     "/opt/ros/humble/share/geometry_msgs/msg/TwistStamped.idl",
  127.     "/opt/ros/humble/share/geometry_msgs/msg/TwistWithCovariance.idl",
  128.     "/opt/ros/humble/share/geometry_msgs/msg/TwistWithCovarianceStamped.idl",
  129.     "/opt/ros/humble/share/geometry_msgs/msg/Vector3.idl",
  130.     "/opt/ros/humble/share/geometry_msgs/msg/Vector3Stamped.idl",
  131.     "/opt/ros/humble/share/geometry_msgs/msg/VelocityStamped.idl",
  132.     "/opt/ros/humble/share/geometry_msgs/msg/Wrench.idl",
  133.     "/opt/ros/humble/share/geometry_msgs/msg/WrenchStamped.idl"
  134.   ]
  135. }

将idl转成c

然后使用rosidl_generator_c工具将idl文件转成c语言头文件：

  1. /opt/ros/humble/lib/rosidl_generator_c/rosidl_generator_c --generator-arguments-file generator_arguments.json

将idl转成cpp

然后使用rosidl_generator_c工具将idl文件转成c语言头文件：
首先将上面的json文件改成： 

  1. {
  2.   ...
  3.   "template_dir": "/opt/ros/humble/share/rosidl_generator_cpp/resource",
  4.   ...
  5. }

然后

  1. /opt/ros/humble/lib/rosidl_generator_cpp/rosidl_generator_cpp --generator-arguments-file generator_arguments.json
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