![](https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgyXd3BI6QcrLLGcH1IVIN3IVoDinFAWChOlpSujTSJHMNEKyFZWI7-UOecJSy2vy5UYWIZ-OkbBybh-6FlQOEWLw3rG2-2TEXUWCIcCPQUCW8ZCwqJS_HCFTVr0_klfHL_0dK7er67xw/s280/1558053497453.remmina-2019-5-30-2%253A27%253A40.768036.png)
I found a deprecated Github repository for the XSens MTi ROS node at https://github.com/xsens/xsens_mti_ros_node that has the definitions for the custom message gnssSample. However, the repository's package name is xsens_msgs while the bag file's package name is custom_msgs. I had to rename the package to get ROS to recognize the bag file's messages. So the following steps were how I resolved the problem.
- Follow the tutorial at https://wiki.ros.org/ROS/Tutorials/CreatingPackage to create a Catkin workspace e.g. /home/yourname/catkin_ws/.
- Open up a Terminal and change the directory to /home/yourname/catkin_ws/src/.
$ cd /home/yourname/catkin_ws/src - Download the XSens MTi ROS Node repository.
$ git clone https://github.com/xsens/xsens_mti_ros_node - Using a text editor, open up the file /home/yourname/catkin_ws/src/xsens_mti_ros_node/src/xsens_msgs/package.xml.
- Change the package name to custom_msgs as shown below.
- Open up the file /home/yourname/catkin_ws/src/xsens_mti_ros_node/src/xsens_msgs/CMakeLists.txt.
- Change the project name to custom_msgs as shown below.
- Now in a Terminal change to the catkin root directory.
$ cd /home/yourname/catkin_ws - Compile the package by entering the command:
$ catkin_make
![](https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjLvpRlOyYUR8Abw-iPYiO6p3yKeVOwDIxovJT0Av0hf3W7dKIk32aoIUFC0gGEkCztJrs9Rz21yItrEQbQYH9hShcQLJs-eG2o_qJ1zqYpIPxJAG5F-ZYcqS154nJNmlDF4HzJyJhdFA/s280/1558399478237.remmina-2019-5-30-2%253A28%253A39.773570.png)
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