1. 建立自定义消息

vim ~/ws/src/package/msg/mymsg.msg

int64[] mymsg

2. 配置CMake文件

vim ~/ws/src/package/CMakeLists

find_package(catkin REQUIRED COMPONENTS  roscpp  rospy  std_msgs message_generation)
generate_messages(  DEPENDENCIES  std_msgs)
add_message_files(  FILES  mymsg.msg)

3. 编写程序

vim ~/ws/src/package/src/talker.py

#!/usr/bin/python
# -*- coding: utf-8 -*-

import rospy
from exam0301.msg import num

rospy.init_node('talker',anonymous=1)
pub=rospy.Publisher('chatter',num,queue_size=10)
while not rospy.is_shutdown():
    rospy.loginfo('i am sending message')
    rate=rospy.Rate(1)
    dd=[1,2,4,5,6,8]
    pub.publish(dd)
    rate.sleep()

vim ~/ws/src/package/src/listener.py

#!/usr/bin/python
# -*- coding: utf-8 -*-

import rospy
from exam0301.msg import num

def callback(data):
    print(data.num)
    print'i recieve:',(data.num)[1::2]

if __name__=='__main__':
    rospy.init_node('listener',anonymous=0)
    rospy.Subscriber('chatter',num,callback)
    rospy.spin()

4. 编译运行

chmod +x ~/ws/src/package/src/talker.py
chmod +x ~/ws/src/package/src/listener.py
cd ~/wa/src/package/ | catkin_make

注：更改了msg或srv类型之后一定要cmake，否则会失效。
rosrun ~~~~~~~~