Question 1

How do I use common_interfaces in my ROS 2 project?

Accepted Answer

Add it as a dependency in your package.xml or CMakeLists.txt, then import the required message types like sensor_msgs in your code. The README links to API docs for each sub-package for detailed usage.

Question 2

What's the difference between geometry_msgs and nav_msgs in ROS 2?

Accepted Answer

geometry_msgs provides basic geometric types like points and vectors, while nav_msgs includes higher-level navigation data such as paths and occupancy grids. Both are part of common_interfaces for standardized communication.

Question 3

Can I add my own messages to common_interfaces?

Accepted Answer

No, common_interfaces is for standard messages only; custom messages should be created in separate packages to maintain modularity. The contributing guide outlines how to propose additions if they become widely used.

Question 4

ROS 2 common_interfaces vs creating custom messages: which is better?

Accepted Answer

Use common_interfaces for interoperability with other ROS packages, but create custom messages for unique, application-specific data. Mixing both can lead to dependency issues, so plan based on reuse needs.

Question 5

How to contribute to the common_interfaces package?

Accepted Answer

Follow the CONTRIBUTING.md file for guidelines on submitting new messages or improvements. Contributions typically require demonstrating widespread need to avoid bloating the standard set.

Question 6

Is common_interfaces compatible with ROS 1?

Accepted Answer

No, it's designed specifically for ROS 2; ROS 1 has its own interface packages. Migrating between versions may require adapting message definitions due to differences in ROS ecosystems.

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