first test push

src/pubsub/package.xml

@@ -0,0 +1,31 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>pubsub</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="winterhalder.p@googlemail.com">patrick</maintainer>
+  <license>TODO: License declaration</license>
+
+  <!-- ADD THESE LINES -->
+  <!-- Package not listed when using this: <exec_depend>rclpy</exec_depend> -->
+  <!-- <exec_depend>std_msgs</exec_depend> -->
+  <!-- <build_depend>std_msgs</build_depend> -->
+  <depend>std_msgs</depend>
+  
+  <!-- CUSTOM LINE -->
+  <!-- This is custom for the package you depend on -->
+  <exec_depend>pubsub_msg</exec_depend>
+  <!-- END HERE -->
+  
+  
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

src/pubsub/pubsub/listener.py

@@ -0,0 +1,83 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+
+#********************************************#
+# Listener Template
+
+# Creted for:
+# ROS2 Workshop 2020
+# Roverentwicklung für Explorationsaufgaben
+# Institute for Space Systems
+# University of Stuttgart
+
+# Created by Patrick Winterhalder
+# IRS, University of Stuttgart
+#********************************************#
+
+import rclpy
+from rclpy.node import Node
+
+# Import Subscriber Library
+from .pubsub_library import CustomMsg1_sub
+from .pubsub_library import CustomMsg2_sub
+
+# Import Message Types
+from pubsub_msg.msg import CustomMsg1
+from pubsub_msg.msg import CustomMsg2
+
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    # Start nodes here, should create object <node_name> for every node
+    listener_1 = CustomMsg1_sub(NODE_NAME="pubsub_listener_1", TOPIC_NAME="/chatter1",MSG_TYPE=CustomMsg1, NUM_MSGS=0)
+    listener_2 = CustomMsg2_sub(NODE_NAME="pubsub_listener_2", TOPIC_NAME="/chatter2",MSG_TYPE=CustomMsg2, NUM_MSGS=0)
+
+
+    while rclpy.ok():
+        try:
+            # Insert main looping script here...
+
+            # Receive Topics by running nodes
+            rclpy.spin_once(listener_1, timeout_sec=0.01)
+            rclpy.spin_once(listener_2, timeout_sec=0.01)
+
+            # Do sth if message was received
+            if listener_1.topic_received is True:
+                listener_1.topic_received = False # zurücksetzen
+                msg_1 = listener_1.return_msg()
+                #*********************************
+                # Do sth based on received message
+                #*********************************
+            if listener_2.topic_received is True:
+                listener_2.topic_received = False # zurücksetzen
+                msg_2 = listener_2.return_msg()
+                #*********************************
+                # Do sth based on received message
+                #*********************************
+            
+
+            # Check if "msg_1" or "msg_2" is available as a local variable
+            if 'msg_1' in locals():
+                # Print msg_1
+                listener_1.print_msg()
+            if 'msg_2' in locals():
+                # Print msg_2
+                listener_2.print_msg()
+
+            # Here, you can now also publish/pass on the results of this script by
+            # using the "MinimalPublisher" class. For this please  refer to "talker.py".
+
+        except (KeyboardInterrupt, SystemExit):
+            print("\n\nShutting down...")
+
+            # Insert "<node_name>.destroy_node()" here for all running nodes in this script
+            # eg:
+            listener_1.destroy_node()
+            listener_2.destroy_node()
+            rclpy.shutdown()
+        
+
+
+if __name__ == '__main__':
+    main()

src/pubsub/pubsub/pubsub_library.py

@@ -0,0 +1,284 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+
+#********************************************#
+# Publisher/Subscriber Class Library
+
+# Creted for:
+# ROS2 Workshop 2020
+# Roverentwicklung für Explorationsaufgaben
+# Institute for Space Systems
+# University of Stuttgart
+
+# Created by Patrick Winterhalder
+# IRS, University of Stuttgart
+#********************************************#
+
+import rclpy
+from rclpy.node import Node
+
+# How to use:
+# from pubsub_library import MinimalPublisher
+# from pubsub_library import MinimalSubscriber
+# minimal_publisher = MinimalPublisher(NODE_NAME='minimal_pub', TOPIC_NAME='user_controller', MSG_TYPE=Usercontroller, MSG_PERIOD=0.5)
+# minimal_subscriber = MinimalSubscriber(NODE_NAME='minimal_sub', TOPIC_NAME='epos_feedback', MSG_TYPE=Eposreturn)
+# See --> talker.py, listener.py
+
+
+
+#******************************************************************************#
+# Definition of Parent Classes
+
+class MinimalPublisher(Node):
+
+    def __init__(self, NODE_NAME, TOPIC_NAME, MSG_TYPE, MSG_PERIOD):
+        self.PUBLISHER_NAME= NODE_NAME
+        self.TOPIC_NAME = TOPIC_NAME
+        self.CUSTOM_MSG = MSG_TYPE
+        self.timer_period = MSG_PERIOD  # [seconds]
+        # Init above laying class Node
+        super().__init__(self.PUBLISHER_NAME)
+        print("\t- " + str(TOPIC_NAME) + "\n")
+        self.publisher_ = self.create_publisher(
+            self.CUSTOM_MSG, 
+            self.TOPIC_NAME, 
+            10)
+        self.new_msg = False
+        # Define Node Frequency, equivalent to ~rospy.rate()
+        self.timer = self.create_timer(self.timer_period, self.publisher_timer)
+        return
+
+    def publisher_timer(self):
+        if self.new_msg is True:
+            try:
+                #self.get_logger().info('Pub:')
+                self.publisher_.publish(self.msg)
+                self.new_msg = False
+            except TypeError:
+                print("[ERROR] Msg-Data-Types do not match")
+        return
+
+    # Publish using Timer
+    def timer_publish(self, msg):
+        self.msg=msg
+        self.new_msg = True
+        return
+
+    # Publish directly without Timer
+    def direct_publish(self, msg):
+        try:
+            #self.get_logger().info('Pub:')
+            self.publisher_.publish(msg)
+        except TypeError:
+            print("[ERROR] Msg-Data-Types do not match")
+        return
+
+
+
+
+
+
+
+
+
+class MinimalSubscriber(Node):
+
+    def __init__(self, NODE_NAME, TOPIC_NAME, MSG_TYPE, NUM_MSGS):
+        self.NODE_NAME= NODE_NAME
+        self.TOPIC_NAME = TOPIC_NAME
+        self.CUSTOM_MSG = MSG_TYPE
+        self.NUM_MSGS = NUM_MSGS
+        self.topic_received = False
+        # Init above laying class Node
+        super().__init__(self.NODE_NAME)
+        self.subscription = self.create_subscription(
+            self.CUSTOM_MSG,            # Message Type
+            self.TOPIC_NAME,            # Topic Name
+            self.listener_callback,     # Callback Function
+            self.NUM_MSGS)              # List of saved messages
+        self.subscription  # prevent unused variable warning
+        return
+
+    def listener_callback(self, msg):
+        self.get_logger().info('I heard: "%s"' % msg.data)
+        return
+
+
+
+
+
+
+
+
+
+
+#***************************************************************************#
+# Child Classes inherite through super().__init__(...) from parent class
+# Child's purpose is to simplify subscribing to custom messages 
+# For this to work you must customize "listener_callback", "return_msg" (and "print_msg")
+
+
+
+# Exemplary Subscriber Class: Inheriting from MinimalSubscriber Class
+# This class is custom made for receiving the specific msg type but uses MinimalSubscriber as foundation
+# Create a new class of this type for every custom msg you want to receive, customizing the listener_callback, 
+# return_msg (and print_msg) functions to correspond to your message
+
+class example_subscriber(MinimalSubscriber):
+
+    def __init__(self, NODE_NAME, TOPIC_NAME, MSG_TYPE, NUM_MSGS):
+        # Init MinimalSubscriber:
+        super().__init__(NODE_NAME, TOPIC_NAME, MSG_TYPE, NUM_MSGS)
+        print("\t- " + str(TOPIC_NAME))
+        # !!! CUSTOMIZE THESE VARIABLES TO WORK WITH YOUR MESSAGE FILE !!!
+        self.pos_actual = None
+        self.vel_actual = None
+        self.baffle_switch = None
+        self.current = None
+        self.temp = None
+    
+
+    # !!! CUSTOMIZE THIS FUNCTION TO WORK WITH YOUR MESSAGE FILE !!!
+    def listener_callback(self, msg): # Overwrites callback from inherited class
+        self.topic_received = True
+        self.pos_actual = msg.pos_actual
+        self.vel_actual = msg.vel_actual
+        self.baffle_switch = msg.baffle_switch
+        self.current = msg.epos_current
+        self.temp = msg.epos_temp
+        #print_msg(self) # activate to print the received data --> customize print_msg(self) !
+        return
+
+    # !!! CUSTOMIZE THIS FUNCTION TO WORK WITH YOUR MESSAGE FILE !!!
+    def return_msg(self): # Extract only msg variables from "self" object
+        msg = self.CUSTOM_MSG()
+        msg.pos_actual = self.pos_actual
+        msg.vel_actual = self.vel_actual
+        msg.baffle_switch = self.baffle_switch
+        msg.epos_current = self.current
+        msg.epos_temp = self.temp
+        return msg
+
+    # !!! CUSTOMIZE THIS FUNCTION TO WORK WITH YOUR MESSAGE FILE !!! (optional)
+    def print_msg(self):
+        print("[SUBSCRIBER] %s received topic:\t/%s" %(self.NODE_NAME, self.TOPIC_NAME))
+        string = "Received:\t"
+
+        # Check length of all transmitted value lists to be equal (equal number of parameters)
+        length = len(self.pos_actual)
+        if any(len(lst) != length for lst in [self.vel_actual, self.current, self.temp]):
+            print("[TRANSMISSION ERROR] Length of lists inside topic %s do not match" %(self.TOPIC_NAME))
+        else:
+            complete_list = []
+            complete_list.append(self.pos_actual)
+            complete_list.append(self.vel_actual)
+            complete_list.append(self.current)
+            complete_list.append(self.temp)
+            #print(complete_list)
+            for i in range(len(complete_list)):
+                for y in range(len(complete_list[0])):
+                    string += "%.2f,\t" %(complete_list[i][y])
+            string += str(self.baffle_switch)
+            print(string)
+        return
+
+
+#************************************************************************************#
+# CustomMsg1 Subscriber Class
+class CustomMsg1_sub(MinimalSubscriber):
+
+    def __init__(self, NODE_NAME, TOPIC_NAME, MSG_TYPE, NUM_MSGS):
+        # Init MinimalSubscriber:
+        super().__init__(NODE_NAME, TOPIC_NAME, MSG_TYPE, NUM_MSGS)
+        print("\t- " + str(TOPIC_NAME))
+        # CustomMsg1 Variables
+        self.temperature = None
+        self.pressure = None
+        self.humidity = None
+        return
+    
+
+    # !!! CUSTOMIZE THIS FUNCTION TO WORK WITH YOUR MESSAGE FILE !!!
+    def listener_callback(self, msg): # Overwrites callback from inherited class
+        self.topic_received = True
+        self.temperature = msg.temperature
+        self.pressure = msg.pressure
+        self.humidity = msg.humidity
+        #print_msg(self) # activate to print the received data --> customize print_msg(self) !
+        return
+
+    # !!! CUSTOMIZE THIS FUNCTION TO WORK WITH YOUR MESSAGE FILE !!!
+    def return_msg(self): # Extract only msg variables from "self" object
+        msg = self.CUSTOM_MSG()
+        msg.temperature = self.temperature
+        msg.pressure = self.pressure
+        msg.humidity = self.humidity
+        return msg
+
+    # !!! CUSTOMIZE THIS FUNCTION TO WORK WITH YOUR MESSAGE FILE !!! (optional)
+    def print_msg(self):
+        print("[SUBSCRIBER] %s received topic:\t/%s" %(self.NODE_NAME, self.TOPIC_NAME))
+        string = "Received:\t"
+
+        # Check length of all transmitted value lists to be equal (equal number of parameters)
+        length = len(self.temperature)
+        if any(len(lst) != length for lst in [self.temperature, self.pressure, self.humidity]):
+            print("[TRANSMISSION ERROR] Length of lists inside topic %s do not match" %(self.TOPIC_NAME))
+        else:
+            complete_list = []
+            complete_list.append(self.temperature)
+            complete_list.append(self.pressure)
+            complete_list.append(self.humidity)
+            #print(complete_list)
+            for i in range(len(complete_list)):
+                for y in range(len(complete_list[0])):
+                    string += "%.2f,\t" %(complete_list[i][y])
+            print(string)
+        return
+
+
+
+#************************************************************************************#
+# CustomMsg2 Subscriber Class
+class CustomMsg2_sub(MinimalSubscriber):
+
+    def __init__(self, NODE_NAME, TOPIC_NAME, MSG_TYPE, NUM_MSGS):
+        # Init MinimalSubscriber:
+        super().__init__(NODE_NAME, TOPIC_NAME, MSG_TYPE, NUM_MSGS)
+        print("\t- " + str(TOPIC_NAME))
+        # CustomMsg1 Variables
+        self.pitch_ctrl = None
+        self.yaw_ctrl = None
+        return
+    
+
+    # !!! CUSTOMIZE THIS FUNCTION TO WORK WITH YOUR MESSAGE FILE !!!
+    def listener_callback(self, msg): # Overwrites callback from inherited class
+        self.topic_received = True
+        self.pitch_ctrl = msg.pitch_ctrl
+        self.yaw_ctrl = msg.yaw_ctrl
+        #print_msg(self) # activate to print the received data --> customize print_msg(self) !
+        return
+
+    # !!! CUSTOMIZE THIS FUNCTION TO WORK WITH YOUR MESSAGE FILE !!!
+    def return_msg(self): # Extract only msg variables from "self" object
+        msg = self.CUSTOM_MSG()
+        msg.pitch_ctrl = self.pitch_ctrl
+        msg.yaw_ctrl = self.yaw_ctrl
+        return msg
+
+    # !!! CUSTOMIZE THIS FUNCTION TO WORK WITH YOUR MESSAGE FILE !!! (optional)
+    def print_msg(self):
+        print("[SUBSCRIBER] %s received topic:\t/%s" %(self.NODE_NAME, self.TOPIC_NAME))
+        string = "Received:\t"
+
+        # Check length of all transmitted value lists to be equal (equal number of parameters)
+        complete_list = []
+        complete_list.append([self.pitch_ctrl])
+        complete_list.append([self.yaw_ctrl])
+        #print(complete_list)
+        for i in range(len(complete_list)):
+            for y in range(len(complete_list[0])):
+                string += "%.2f,\t" %(complete_list[i][y])
+        print(string)
+        return

src/pubsub/pubsub/talker.py

@@ -0,0 +1,69 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+
+#********************************************#
+# Talker Template
+
+# Creted for:
+# ROS2 Workshop 2020
+# Roverentwicklung für Explorationsaufgaben
+# Institute for Space Systems
+# University of Stuttgart
+
+# Created by Patrick Winterhalder
+# IRS, University of Stuttgart
+#********************************************#
+
+import rclpy
+from rclpy.node import Node
+
+# Import Publisher Library (Python Library)
+from .pubsub_library import MinimalPublisher
+
+# Import Message Types (Message Files)
+from pubsub_msg.msg import CustomMsg1
+from pubsub_msg.msg import CustomMsg2
+
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    # Start nodes here, should create object <node_name> for every node
+    talker_1 = MinimalPublisher(NODE_NAME="pubsub_talker_1", TOPIC_NAME="/chatter1", MSG_TYPE=CustomMsg1, MSG_PERIOD=0.25)
+    talker_2 = MinimalPublisher(NODE_NAME="pubsub_talker_2", TOPIC_NAME="/chatter2", MSG_TYPE=CustomMsg2, MSG_PERIOD=0.5)
+
+    while rclpy.ok():
+        try:
+            # Insert main looping script here...
+
+            # Eg. create custom msgs, fill and send them
+            # CustomMsg1 to talker_1
+            msg_1 = CustomMsg1()
+            msg_1.temperature = [24.5, 25.5, 26.5]
+            msg_1.pressure = [1011.5, 1012.55, 1010.11]
+            msg_1._humidity = [0.002, 0.0019, 0.0021]
+            talker_1.timer_publish(msg_1)
+
+            # CustomMsg2 to talker_2
+            msg_2 = CustomMsg2()
+            msg_2.pitch_ctrl = 0.0
+            msg_2.yaw_ctrl = 0.22
+            talker_2.timer_publish(msg_2)
+
+
+            # Insert "rclpy.spin_once(<node_name>, timeout_sec=0.1)" at the end of 
+            # "try" for every node running in this script
+            rclpy.spin_once(talker_1, timeout_sec=0.1)
+            rclpy.spin_once(talker_2, timeout_sec=0.1)
+            
+        except (KeyboardInterrupt, SystemExit):
+            print("\n\nShutting down...")
+            # Insert "<node_name>.destroy_node()" here once for every node running in this script
+            talker_1.destroy_node()
+            talker_2.destroy_node()
+            rclpy.shutdown()
+        
+
+
+if __name__ == '__main__':
+    main()

src/pubsub/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script-dir=$base/lib/pubsub
+[install]
+install-scripts=$base/lib/pubsub

src/pubsub/setup.py

@@ -0,0 +1,27 @@
+from setuptools import setup
+
+package_name = 'pubsub'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=[package_name],
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='patrick',
+    maintainer_email='winterhalder.p@googlemail.com',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'talker = pubsub.talker:main',
+            'listener = pubsub.listener:main'
+        ],
+    },
+)

src/pubsub/test/test_copyright.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

src/pubsub/test/test_flake8.py

@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)

src/pubsub/test/test_pep257.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'

src/pubsub_msg/CMakeLists.txt

@@ -0,0 +1,59 @@
+cmake_minimum_required(VERSION 3.5)
+project(pubsub_msg)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+
+
+
+# -->
+# ADD THESE LINES: START HERE
+
+find_package(builtin_interfaces REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(rclcpp REQUIRED)
+
+# CUSTOM LINES: CHANGE FOR YOUR FILENAMES
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/CustomMsg1.msg"
+  "msg/CustomMsg2.msg"
+  DEPENDENCIES builtin_interfaces
+ )
+
+# END HERE 
+# <--
+
+
+
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # uncomment the line when a copyright and license is not present in all source files
+  #set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

src/pubsub_msg/msg/CustomMsg1.msg

@@ -0,0 +1,8 @@
+# Header data, eg timestamp
+# Problem: "header__struct.hpp: No such file or directory"
+#Header header
+
+# Sensor Data coming back from an array of atmospheric sensors
+float32[] temperature
+float32[] pressure
+float32[] humidity

src/pubsub_msg/msg/CustomMsg2.msg

@@ -0,0 +1,7 @@
+# Header data, eg timestamp
+# Problem: "header__struct.hpp: No such file or directory"
+#Header header
+
+# User inputs, eg. for controlling a camera mast , eg. set angles [rad]
+float32 pitch_ctrl
+float32 yaw_ctrl

src/pubsub_msg/package.xml

@@ -0,0 +1,34 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>pubsub_msg</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="winterhalder.p@googlemail.com">patrick</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+
+
+
+  <!-- ADD THESE LINES: START HERE -->
+  <build_depend>builtin_interfaces</build_depend>
+  <build_depend>rosidl_default_generators</build_depend>
+  
+  <exec_depend>builtin_interfaces</exec_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  
+  <member_of_group>rosidl_interface_packages</member_of_group>
+  <!-- END HERE -->
+
+
+
+
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>