How to define message types in client/service?

[ekkaiasmith]

Hello,
I would like to know how to define messages for a ros2_rust client/service. I saw in the examples the use of a user-defined struct called AddTwoInts, but do I need to implement the Message and Service traits for every struct I want to use in the client and service nodes?

[ekkaiasmith]

Documentation says that User code never needs to call this trait's method, much less implement this trait about the Service trait 🤔

[esteve]

@ekkaiasmith sorry for the slow reply. Messages are defined the standard ROS way, that is, by creating .msg and .srv text files that are then converted into structures suitable for a client library. The AddTwoInts service messages are defined in the example_interfaces package: https://github.com/ros2/example_interfaces

For more info on how to create custom messages, you can follow the official documentation at https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Custom-ROS2-Interfaces.html