This is an example of how to use a ROS 2 package containing custom ROS 2 message
definitions in a ROS 2 node implemented using rclgo. greeting_msgs contains a
ROS 2 package with a custom message definition that is used by greeter, a ROS 2
node implemented using rclgo.
First greeting_msgs must be built. Ensure you have sourced your ROS 2
environment and have C build tools, colcon and rosidl C generator installed
(Ubuntu packages build-essential, python3-colcon-common-extensions and
ros-$ROS_DISTRO-rosidl-generator-c). Switch to greeting_msgs directory and build
C bindings for the package by running
colcon build
Source the package as an overlay by running
. install/local_setup.sh
Then switch to greeter directory. Generate Go bindings by running
go generate
Now the program can be compiled and tested by running
go build
./greeter
which publishes a welcoming greeting to someone in ROS topic /greeter/hello.