Code Generation =============== ROS messages ------------ An example for code generation is the generation of language bindings for ROS messages. Catkin parses ``package.xml`` files for declarations of message-generators. Those will be build first by catkin. Other than that, it is up to packages to use genmsg by including it in the ``CMakeLists.txt`` and calling the cmake macros defined in genmsg. See project :ref:`genmsg `.