14. Generating Custom Messages

In this chapter, we provide an example on how custom messages can be generated for cFS applications.

Note that the approach we will discuss could be applied to other scenarios in which the “original” message definitions are defined as C structs, such as they are in cFS. We use a 3rd-party tool called juicer that has been developed by Windhover labs that generates an SQL database file of from application and library binaries with all the relevant information. Our custom conversion script parses this SQL file and generates corresponding ROS2 message types into a package that can be used by our bridge tools.

The following pages will walk you through how to setup, install, and run juicer on your cFS binaries to generate the database file, and how our BRASH conversion node can be used to generate the corresponding ROS2 messages.

• 14.1. Introduction & Overview
• 14.2. Setup & Installation
• 14.3. Generating The Database
• 14.4. Generating Messages