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gazebosim / gz-msgs

Messages for Gazebo robot simulation.
https://gazebosim.org
Apache License 2.0
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Custom msg generation tutorial #371

Closed Steplerchik closed 1 year ago

Steplerchik commented 1 year ago

Dear developers,

Is there any tutorial on how to create a custom gazebo msg for Gazebo Garden? Thanks in advance!

mjcarroll commented 1 year ago

The mechanisms for generating custom messages in Garden weren't particularly convenient. For the most part, we added messages to the gz-msgs9 release (or you could use them from a fork).

The closest example of using custom messages would be the networking messages generated in gz-sim: https://github.com/gazebosim/gz-sim/tree/gz-sim7/src/msgs

For harmonic forward, I would suggest checking out the tutorial and examples for the newly-exposed message generation framework: https://github.com/gazebosim/gz-msgs/pull/386