Your Question:

Create a new message type called "WheelVel.msg" with the following format. Header header

float32[] wheel_velocities

• Use the previous question solution as the base for your driving the robot. • Write a ROS node to detect an obstacle in

front of the robot using the laser scan data

the node from the previous question in parallel to this new node (i.e., a linear speed of 0.2 m/s is

always being applied).

Step By Step Answers with Explanation

Open a terminal and navigate to your ROS workspace's `src` directory, where you want to create the package "my_husky_yourlastname."

cd /path/to/your/ros/workspace/src

mkdir -p my_husky_yourlastname/msg

touch my_husky_yourlastname/msg/WheelVel.msg

3. Edit the CMakeLists.txt and package.xml Files:

Open the "CMakeLists.txt" file located in the "my_husky_yourlastname" package directory and add the following lines to declare the message file:

message_generation

)

generate_messages(

DEPENDENCIES

<build_depend>message_generation</build_depend>

<exec_depend>message_runtime</exec_depend>

This command will compile the new message type along with your package.

5. Source Your Workspace: