Creating_Interface_Package.txt

To create your own interface package which allows you to create custom msg's and srv's follow these steps:

ros2 pkg create [pkg_name]

cd [pkg_name]
rm -rf src
rm -rf include
mkdir msg
mkdir srv

open the package in vsc or compiler of choice




add these three lines to the package.xml file:

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



add these lines to your CMakeLists.txt file:

find_package(rosidl_default_generators REQUIRED)

rosidl_generate_interfaces(${PROJECT_NAME}
  "msg/[msg_file_name].msg"
  "srv/[srv_file_name].srv"
)

ament_export_dependencies(rosidl_default_runtime)


then you are ready to compile and use your custom interfaces!