Target: noetic
colcon build
Both terminals must be sourced!
- Terminal
ros2 run custom_msg_pub_sub custom_pub.py
- Terminal
ros2 topic echo /topic
https://index.ros.org/doc/ros2/Tutorials/Writing-A-Simple-Py-Publisher-And-Subscriber/ https://index.ros.org/doc/ros2/Tutorials/Custom-ROS2-Interfaces/ https://answers.ros.org/question/314724/ros2-embedding-a-msg-as-a-field-in-a-custom-msg/