ROS 2 interfaces are the messages and services you use with your topics and services.

For now you’ve only used existing interfaces so you could focus on learning how topics and services work.

Now, it’s time to learn how to use your own message/service types!

At the end of this section you’ll be able to:

• Create and build your own interfaces with msg and srv definitions

• Use those interfaces with your topics and services

You will also do a complete activity to work on nodes, topics, services, and custom interfaces.

But first, let’s see what ROS 2 interfaces are.