RobotHubCourse outline

ROS 2 Lyrical Luth · Lesson 07 of 8

Custom interfaces

Define and use messages, services and actions from C++ packages.

Estimated time · 45–75 min

Guided lesson

Work through these steps

  1. 1.

    Source the ROS 2 Lyrical environment in a fresh terminal.

  2. 2.

    Run the custom interfaces inspection commands before creating code.

  3. 3.

    Build only the affected package, then source the workspace overlay.

  4. 4.

    Inspect the ROS graph and verify the result from a second terminal.

Example

Try it yourself

ros2 interface show sensor_msgs/msg/JointState
# Define project interfaces in a dedicated interface package.

Practical exercise

Apply the lesson

Create a minimal ROS 2 workspace demonstration for custom interfaces, then prove it works with the ROS 2 CLI.

Before you continue

  • ROS_DISTRO reports lyrical
  • The workspace builds without errors
  • The expected node, topic, service, or action is visible in the graph