John Michell answered . 2024-04-26 08:00:54

• Download the leap_motion folder containing the new message definitions. I think you already have this folder. In the remainder of the instructions, I will assume that this leap_motion folder is placed in c:\customrosmsg.
• Run rosgenmsg on the folder containing the custom message definitions:

rosgenmsg c:\customrosmsg

• Follow the instructions to edit the javaclasspath.txt file. In addition to the JAR file path, you also need to tell MATLAB to use this JAR file instead of the builtin one. Add the "before" token in front of the JAR file file path:

<before>
c:\customrosmsg\matlab_gen\jar\leap_motion-0.0.9.jar

• Restart MATLAB
• Delete the previously generated MATLAB files and run rosgenmsg again. Now, it should pick up the new definitions:

rmdir('c:\customrosmsg\matlab_gen\msggen\+robotics\+ros\+custom\+msggen\+leap_motion', 's')
rosgenmsg c:\customrosmsg

• You should now be able to use these new message definitions. All references to the leap_motion message types will automatically use this new definition.

msg = rosmessage('leap_motion/leapros')

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