~my_ws/src$ ros2 pkg create --build-type ament_cmake my_interfaces
~my_ws/src/my_interfaces$ mkdir msg
~my_ws/src/my_interfaces$ mkdir srv
~/my_ws$ colcon build --packages-select my_interfaces
[Reference] https://docs.ros.org/en/foxy/Tutorials/Custom-ROS2-Interfaces.html
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